This paper proposes an output feedback cooperative dynamic positioning control scheme for an unactuated floating object using multiple vessels under model uncertainties and environmental disturbances. The floating object is connected to multiple vessels through towlines. At first, nonlinear extended state observers are developed for the floating object and vessels to reconstruct the unmeasured velocity and to estimate the model uncertainties and disturbances. Second, observer-based controllers are designed for the floating object and vessels to drive the floating object to track the reference signal and to achieve the cooperative control of multiple vessels, respectively. The salient features of the proposed control scheme are presented as follows. Firstly, by design the object controller, the tracking performance of the object is improved. Secondly, according to the required force of the floating object, the time-varying formation of vessels is obtained by using the towline attachment geometry of the floating object, control allocation and a towline model. It is shown that all signals in closed-loop system are bounded via Lyapunov analysis. Simulation study is carried out to verify the effectiveness of proposed control method.

中文翻译：

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使用多个容器的未驱动浮动物体的输出反馈协作动态定位控制

针对模型不确定性和环境扰动，提出了一种多船未使用浮动物体的输出反馈协同动态定位控制方案。浮动物体通过拖缆连接到多艘船。首先，针对浮动物体和船只开发了非线性扩展状态观测器，以重建未测得的速度并估计模型的不确定性和扰动。其次，针对漂浮物和船只设计了基于观察者的控制器，以驱动漂浮物跟踪参考信号并分别实现对多个船只的协同控制。提出的控制方案的主要特点如下。首先，通过设计目标控制器，提高了目标的跟踪性能。其次，根据浮动物体所需的力，通过使用浮动物体的拖缆附着几何形状，控制分配和拖缆模型来获得随时间变化的船只。通过Lyapunov分析表明，闭环系统中的所有信号都是有界的。通过仿真研究验证了所提控制方法的有效性。