Ship Dynamics in the Dynamic Positioning Problem

The article deals with the issues of control to maintain constant coordinates by the ship while performing various operations. Ship model present as a dynamic object in a full six-dimensional coordinate system. Based on the concept of connectivity of the components of the state vector and, based on Hamilton's principle, it is proposed to use the model in the form of a system of second-order differential equations. In contrast to the model in the Cauchy form, all measurable coordinates of the state vector and acceleration, velocity and displacement are taken into account here. In order to ensure the necessary characteristics, the method of the theory of invariant control is applied. The ship model is considered in six-dimensional space.