Robust adaptive backstepping path tracking control for cable laying vessel based on guidance strategy

In order to ensure the cables are laid on set paths during offshore cable laying and burying operations, a novel control method with adaptive robustness for dynamic positioning cable laying vessels is proposed. A guidance strategy used to calculating the vessel desired position vector from set cable laying paths is proposed. The uncertain parameters matrix of the vessel without extra sensors on cable laying equipment is estimated, and disturbances from environment and cable plough are compensated for by the nonlinear adaptive method. The global asymptotic stability of the closed-loop system is proved. Simulation results show that, with the proposed control method, the closed-loop system has stability and robustness to large disturbances, the position and speed response of the vessel is fast, and cables are laid on the set paths accurately.