期刊
CONTROL ENGINEERING PRACTICE
卷 85, 期 -, 页码 235-245出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2019.01.015
关键词
Dynamic positioning; Marine vessels; Observers; Modeling; Optimization
资金
- Research Council of Norway (RCN) through the Center of Excellence Autonomous Marine Operations and Systems (NTNU AMOS), RCN project [223254]
This paper investigates some fundamental aspects of control system design for dynamic positioning of marine surface vessels. Different control design models are compared. The impact of applying linear and nonlinear models to describe the hydrodynamic damping loads are investigated, and common observer algorithms for DP are compared. The comparison includes a linear time-varying Kalman filter, an extended Kalman filter, and an unscented Kalman filter. To make the comparisons rigorous, optimization is employed to find optimal observer gains, and high-fidelity simulation data and full-scale experimental data are used to test the performance under operations/conditions with significant transient effects.
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