A multiple model adaptive wave filter for dynamic ship positioning

• Type: Article in International Conference Proceedings Book
• Date: 2010

Authors

Hassani, V (Author) Other; Pascoal, AM (Author) Other; Aguiar, AP (Author) Other; Athans, M (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 120-125

8th IFAC Conference on Control Applications in Marine Systems, CAMS2010

Rostock-Warnemunde, 15 September 2010 through 17 September 2010

Indexing

ISI Web of Knowledge

Scopus - 6 Citations

Other information

Authenticus ID: P-008-3NK

DOI: 10.3182/20100915-3-de-3008.00026

Abstract (EN): This paper addresses a filtering problem that arises in the design of dynamic positioning systems for ships subjected to the influence of sea waves. Its key contribution is the use of a multiple model adaptive wave filter that relies on measurements of the ship's position and heading only. To this effect, a bank of Kalman filters is designed for a finite number of parameter values, each corresponding to a different peak frequency of the assumed wave spectrum model. Tools from multiple model adaptive estimation (MMAE) theory are exploited to blend the information provided by the different observers, yielding position and velocity estimates of the ship. These estimates are then be used in an appropriately designed feedback control law. Simulations illustrate the efficacy of the MMAE techniques proposed. © 2010 IFAC.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6