Book ChapterDOI
Nonlinear passive observer design for ships with adaptive wave filtering
Jann Peter Strand,Thor I. Fossen +1 more
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TLDR
In this paper, a nonlinear passive observer for moored and free-floating ships was derived and extended to a new observer with adaptive wave filtering, which significantly improved the performance of the ship positioning system.Abstract:
In this paper we have derived a nonlinear passive observer for moored and free-floating ships. By adding low- and high-pass filtered innovation signals in the design, we have additional flexibility in the design. This augmented design is extended to a new observer with adaptive wave filtering. Experiments with a model ship shows that the adaptive observer will significantly improve the performance of the ship positioning system. This results in reduced magnitude of the observer innovation, better filtering properties and reduced control action by the propulsion system.read more
Citations
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BookDOI
Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control
TL;DR: In this article, the authors present a survey of the latest tools for analysis and design of advanced guidance, navigation and control systems and present new material on underwater vehicles and surface vessels.
Journal ArticleDOI
A survey of dynamic positioning control systems
TL;DR: A survey of some of the major technology advances in the DP controller design having taken place during more than 30 years of research and development is given.
Journal ArticleDOI
Nonlinear passive weather optimal positioning control (WOPC) system for ships and rigs: experimental results
Thor I. Fossen,Jann Peter Strand +1 more
TL;DR: A new concept for nonlinear positioning control of marine vessels is presented and documented experimentally that is controlled such that the resulting wind, wave and current force does not produce a yaw moment without measuring the environmental disturbances.
Dissertation
Acceleration Feedback in Dynamic Positioning
TL;DR: In this article, the authors proposed a method for better compensation of the second type of disturbances, slowly-varying forces, by introducing feedback from measured acceleration, which was shown theoretically and through model experiments that positioning performance can be improved without compromising on thruster usage.
Dissertation
Control of Marine Propellers: from Normal to Extreme Conditions
TL;DR: In this article, the authors present a thesis about control of marine propellers and show that all ships and underwater vehicles, as well as an increasing number of offshore exploration and exploitation vessels, are controlled by proper propellers.
References
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Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Book
Sea Loads on Ships and Offshore Structures
TL;DR: In this paper, linear-wave induced motions and loads on floating structures were modeled as Second-order nonlinear problems. But the authors did not consider the effects of the wind and current on the floating structures.
Journal ArticleDOI
On Sliding Observers for Nonlinear Systems
TL;DR: In this article, des observateurs glissants de systemes non lineaires possedant en presence de bruit du aux mesures and d'erreur de modelisation des proprietes interessantes.
Journal ArticleDOI
Passive nonlinear observer design for ships using lyapunov methods: full-scale experiments with a supply vessel
Thor I. Fossen,Jann Peter Strand +1 more
TL;DR: In this paper a nonlinear observer is derived and is proven to be passive and GES, and the number of tuning parameters is reduced to a minimum by using passivity theory, which results in a simple and intuitive tuning procedure.
Related Papers (5)
Passive nonlinear observer design for ships using lyapunov methods: full-scale experiments with a supply vessel
Thor I. Fossen,Jann Peter Strand +1 more