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“Identification of Dynamically Positioned Ships”

Authors: Thor I. Fossen, Svein I. Sagatun and Asgeir J. Sørensen,
Affiliation: ABB and NTNU, Department of Engineering Cybernetics
Reference: 1996, Vol 17, No 2, pp. 153-165.

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Keywords: Dynamic positioning, identification, full-scale sea trials, Kalman filtering, self-tuning control, marine systems

Abstract: Todays model-based dynamic positioning (DP) systems require that the ship and thruster dynamics are known with some accuracy in order to use linear quadratic optical control theory. However, it is difficult to identify the mathematical model of a dynamically posititmed (DP) ship since the ship is not persistently excited under DP. In addition the ship parameter estimation problem is nonlinear and multivariable with only position and thruster state measurements available for parameter estimation. The process and measurement noise must also be modeled in order to avoid parameter drift due to environmental disturbances and sensor failure. This article discusses an off-line parallel extended Kalman filter (EKF) algorithm utilizing two measurement series in parallel to estimate the parameters in the DP ship model. Full-scale experiments with a supply vessel are used to demonstrate the convergence and robustness of the proposed parameter estimator.

PDF PDF (1373 Kb)        DOI: 10.4173/mic.1996.2.7

DOI forward links to this article:
  [1] David Moreno-Salinas, Dictino Chaos, Eva Besada-Portas, José Antonio López-Orozco, Jesús M. de la Cruz and Joaquín Aranda (2013), doi:10.1155/2013/890120
  [2] David Moreno-Salinas, Dictino Chaos, Jesús Manuel de la Cruz and Joaquín Aranda (2013), doi:10.1155/2013/803548
  [3] Jesús M. de la Cruz García, Joaquín Aranda Almansa and José M. Girón Sierra (2012), doi:10.1016/j.riai.2012.05.001
  [4] D. Moreno-Salinas, E. Besada-Portas, J.A. López-Orozco, D. Chaos, J.M. de la Cruz and J. Aranda (2015), doi:10.1016/j.ifacol.2015.10.282
  [5] David Moreno-Salinas, Raul Moreno, Augusto Pereira, Joaquin Aranda and Jesus M. de la Cruz (2018), doi:10.1016/j.asoc.2018.12.002
  [6] Haitong Xu, Vahid Hassani and C. Guedes Soares (2019), doi:10.1016/j.oceaneng.2018.12.075

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  title={{Identification of Dynamically Positioned Ships}},
  author={Fossen, Thor I. and Sagatun, Svein I. and Sørensen, Asgeir J.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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