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The obtained control commands are distributed to each actuator of the overactuated vessel via unconstrained control allocation. The numerical hydrodynamic model of CyberShip I and the model of environmental disturbances are applied to simulate the operation of the ship control system using the time domain analysis. Simulation studies are presented to illustrate the effectiveness of the proposed controller and its robustness to external disturbances.<\/jats:p>","DOI":"10.3390\/s21206723","type":"journal-article","created":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T21:37:49Z","timestamp":1633901869000},"page":"6723","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4745-597X","authenticated-orcid":false,"given":"Miros\u0142aw","family":"Tomera","sequence":"first","affiliation":[{"name":"Department of Ship Automation, Gdynia Maritime University, 81-87 Morska St., 81-225 Gdynia, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0758-0928","authenticated-orcid":false,"given":"Kamil","family":"Podg\u00f3rski","sequence":"additional","affiliation":[{"name":"Doctoral School, Gdynia Maritime University, 81-87 Morska St., 81-225 Gdynia, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1121","DOI":"10.1109\/TMECH.2017.2660528","article-title":"Advanced control in marine mechatronic systems: A survey","volume":"22","author":"Shi","year":"2017","journal-title":"IEEE\/ASME Trans. 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