Event-triggered positioning control for offshore wind turbine installation vessels under multi-source disturbances

The paper explores a high-precision positioning system of offshore wind turbine installation vessels (OWTIVs). A finite-time disturbance observer (FTDO) is developed to assess the multi-source disturbances that actually exist. To achieve precise positioning of the OWTIV while minimizing communication burden and reducing actuator operation frequency, an adaptive command-filtered backstepping (CFB) approach is proposed, integrated with an event-triggered mechanism. Using Lyapunov stability theory, the study demonstrates that all signals within the control system are ultimately bounded in a uniform manner. Finally, simulations are provided to authenticate the success of the suggested control strategies.