To avoid collisions between guide ship and approach ship during the underway replenishment process, it is important to maintain a certain distance between them. Based on trajectory tracking requirements, a control strategy suitable for engineering applications is proposed for an approach ship without velocity measurements. First, considering the effects of wind, waves, currents, hydrodynamic interactions and the highline cable system, models are established for the two ships. Second, a leader-follower approach is used to maintain the expected longitudinal and transverse distances between the two ships. Third, an extended state observer is designed according to the position, heading, propeller speed and rudder angle of the approach ship. Two time-varying parameters in the observer are estimated in the controller design process. Therefore, the linear speeds, yaw rate, and total system uncertainties can be observed. Fourth, the propeller speed and rudder angle, other than the surge force and steering moment, are considered as the control inputs, which are constructed by the command filter backstepping method. The stability of the proposed control system is verified. Finally, a simulation is performed to demonstrate the effectiveness of the proposed method.

为了避免在引导补给过程中引导船和进场船之间发生碰撞，重要的是要在它们之间保持一定的距离。基于轨迹跟踪的要求，提出了一种适合工程应用的控制策略，适用于无速度测量的进近船。首先，考虑风，波浪，水流，流体动力相互作用和高压电缆系统的影响，为这两艘船建立了模型。其次，采用领导跟随方法来维持两艘船之间预期的纵向和横向距离。第三，根据进近船的位置，航向，螺旋桨速度和舵角设计伸展状态观察器。在控制器设计过程中估计了观察者中的两个时变参数。因此，可以观察到线速度，偏航率和整个系统的不确定性。第四，除喘振力和转向力矩外，螺旋桨速度和舵角被视为控制输入，它们是通过命令滤波器反推方法构造的。验证了所提出控制系统的稳定性。最后，进行仿真以证明所提方法的有效性。