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“Wave disturbance filtering in dynamic positioning systems”

Authors: Tor S. Schei,
Affiliation: SINTEF
Reference: 1996, Vol 17, No 2, pp. 87-96.

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Keywords: Marine systems, ship control, navigation, filtering, state estimation

Abstract: Three different approaches to wave disturbance filtering in dynamic positioning systems are studied in this paper. It is shown that a conventional design based on notch filters leads to approximately the same achievable performance of the total control system as can be achieved with an observer based design. It is also shown that a proposed passivity based design leads to a conventional filter with PD-controller. However, there is a relation between the parameters in the filter and the PD-controller, which ensures the passivity properties of the control system.

PDF PDF (1100 Kb)        DOI: 10.4173/mic.1996.2.2



DOI forward links to this article:
  [1] David Di Ruscio and Christer Dalen (2017), doi:10.4173/mic.2017.2.4


References:
[1] BALCHEN, J. G., JENSSEN, N. A., MATHISEN, E. SÆL1D, S. (1980). A dynamic positioning system based on Kalman filtering and optimal control, Modeling, Identification and Control, 1, 135-163.
[2] FOSSEN, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons, Ltd, Chichester.
[3] FUNG, P.T. GRIMBLE, M.J. (1983). Dynamic ship positioning using a self-tuning Kalman filter, IEEE Trans. Automatic Control, AC-28, 339-350.
[4] GRIMBLE, M.J. PATTON, R.J. (1980). The design of dynamic ship positioning control systems using stochastic optimal control theory, Optimal Contr. Applic. and Methods, 1, 167-202.
[5] JOHANNESEN, E. AA. EGELAND, O. (1993). Dynamic positioning with wave filtering using a passive controller structure, Proc. IEEE 32nd Conference on Decision and Control, San Antonio, Texas, pp. 1903-1908.
[6] MORGAN, M.J. (1978). Dynamic Positioning of Offshore Vessels, Petroleum Publishing Company.
[7] SARGENT, J.S. COWGILL, P.N. (1976). Design considerations for dynamically positioned utility vessels, Offshore Technology Conference, Dallas, U.S.A.
[8] STEIN, G. ATHANS, M. (1987). The LQG/LTR procedure for multivariable feedback control design, IEEE Trans. Automatic Control, AC-32, 105-114.
[9] SÆLID, S., JENSSEN, N.A. BALCHEN, J.G. (1983). Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control, IEEE Trans. Automatic Control, AC-28, 331-339.


BibTeX:
@article{MIC-1996-2-2,
  title={{Wave disturbance filtering in dynamic positioning systems}},
  author={Schei, Tor S.},
  journal={Modeling, Identification and Control},
  volume={17},
  number={2},
  pages={87--96},
  year={1996},
  doi={10.4173/mic.1996.2.2},
  publisher={Norwegian Society of Automatic Control}
};

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