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Considering the filtering problem of dynamic positioning (DP) ship for the slowly varying sea state, a multiple model adaptive observer (MMAO) for dynamic positioning ship is presented. The MMAO consists of a bank of nonlinear subobserver and a dynamic weighting signal generator, in which each sub-observer is designed based on different peak frequency of wave spectrum model. To improve the performance of the observer, subobserver using the measurement of position, velocity, and acceleration is used to update the estimated velocity of ship. The observer parameters are optimized using particle swarm optimization (PSO). Finally, the method is verified effective by the computer simulation.

Multiple Model Adaptive Nonlinear Observer of Dynamic Positioning Ship