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“Design of automatic thruster assisted mooring systems for ships”

Authors: Jan P. Strand, Asgeir J. Sørensen and Thor I. Fossen,
Affiliation: NTNU, Department of Engineering Cybernetics and ABB
Reference: 1998, Vol 19, No 2, pp. 61-75.

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Keywords: Position mooring, model-based control, hydrodynamics, marine systems

Abstract: This paper addresses the mathematical modelling and controller design of an automatic thruster assisted position mooring system. Such control systems are applied to anchored floating production offloading and storage vessels and semi-subs. The controller is designed using model based control with a LQG feedback controller in conjunction with a Kalman filter. The controller design is in addition to the environmental loads accounting for the mooring forces acting on the vessel. This is reflected in the model structure and in the inclusion of new functionality.

PDF PDF (2011 Kb)        DOI: 10.4173/mic.1998.2.1

DOI forward links to this article:
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  [2] E. A. Tannuri, D. C. Donha and C. P. Pesce (2001), doi:10.1002/rnc.604
  [3] Shaoji Fang and Mogens Blanke (2011), doi:10.2478/v10006-011-0035-9
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  [15] Sang-Won Ji, Myung-Soo Choi and Young-Bok Kim (2015), doi:10.1109/TMECH.2015.2407612
  [16] Dong T. Nguyen, Mogens Blanke and Asgeir J. Sørensen (2007), doi:10.3182/20070919-3-HR-3904.00051
  [17] Mogens Blanke, Shaoji Fang, Roberto Galeazzi and Bernt J. Leira (2012), doi:10.3182/20120829-3-MX-2028.00224
  [18] Li Zhou, Torgeir Moan, Kaj Riska and Biao Su (2013), doi:10.1007/s00773-013-0220-7
  [19] Lin-lin Wang, Wen-hua Wang, Ya-zhen Du, Hao Gao and Yi Huang (2016), doi:10.1007/s00773-016-0403-0
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  title={{Design of automatic thruster assisted mooring systems for ships}},
  author={Strand, Jan P. and Sørensen, Asgeir J. and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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