Dynamic positioning of vessels using a UKF-based observer and an NMPC-based controller

From National Research Council Canada

DOIResolve DOI: https://doi.org/10.1109/TASE.2017.2698923
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Name affiliation
  1. National Research Council Canada. Ocean, Coastal and River Engineering
FormatText
TypeArticle
Journal titleIEEE Transactions on Automation Science and Engineering
ISSN1545-5955
1558-3783
Volume14
Issue4
Pages1778–1785
Abstract
This paper presents a solution to the problem of dynamic positioning (DP) of vessels in ice-infested environments using a nonlinear observer and a finite-horizon optimal controlbased approach. An unscented Kalman filter-based nonlinear observer is developed to estimate both the vessel states and the unknown inputs, such as the ice load. To perform better control and disturbance rejection, a nonlinear model predictive controller is employed for DP. The developed modules are integrated with a commercial vessel maneuvering software, and promising realtime results are generated.
Publication date
PublisherIEEE
LanguageEnglish
Peer reviewedYes
NPARC number23003032
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Record created2018-04-16
Record modified2020-03-16
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