中文摘要：

针对在未知环境力作用下船舶横向和艏向所受到的力和力矩具有不便测量的特性,提出一种新的圆心运动控制律,解决了如何获取船舶环境最优艏向和同时保持期望位置的问题.此外,针对无源滤波和控制的级联系统,利用非线性分离式原理设计了PID控制器,保证了该级联系统的稳定性.数值仿真验证了所提出的圆心运动控制律的有效性.

英文摘要：

As it＇s difficult to measure the sway force and yaw moment under the unknown environmental forces,a new circle center control law for dynamic positioning system was proposed to solve the problem of weather optimal heading and position keeping simultaneously. In addition,a PID controller for the cascaded passive-observer-controller system was designed based on the nonlinear separation principal,and the stability of cascaded system was guaranteed. Simulation results demonstrate the validity of the proposed circle center control law.