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Multiple Model Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels

Title
Multiple Model Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels
Type
Article in International Conference Proceedings Book
Year
2012
Authors
Vahid Hassani
(Author)
Other
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Asgeir J Sorensen
(Author)
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Antonio M Pascoal
(Author)
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Conference proceedings International
Pages: 6222-6228
American Control Conference (ACC)
Montreal, CANADA, JUN 27-29, 2012
Scientific classification
FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering
Other information
Authenticus ID: P-002-EN0
Abstract (EN): This paper addresses a filtering problem that arises in the design of dynamic positioning systems for ships and offshore rigs subjected to the influence of sea waves. Its key contribution is twofold: i) it introduces an improved model for filter design, and ii) and it exploits the structure of a multiple model adaptive wave filter that relies on measurements of the vessel's position and heading only. Namely, an improvement in the control plant model is proposed that better captures the physics of the problem at hand and 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 marine vessel. These estimates are then to be used in an appropriately designed feedback control law. Simulations illustrate the efficacy of the MMAE techniques proposed and the improvement in performance that is obtained when compared with other approaches.
Language: English
Type (Professor's evaluation): Scientific
Contact: vahid@isr.ist.utl.pt; asgeir.sorensen@ntnu.no; antonio@isr.ist.utl.pt; pedro@isr.ist.utl.pt
No. of pages: 7
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