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“Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice”

Authors: Øyvind Kåre Kjerstad and Roger Skjetne,
Affiliation: NTNU, Department of Marine Technology
Reference: 2014, Vol 35, No 4, pp. 249-262.

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Keywords: Dynamic positioning, Numerical simulation, Control design, Nonlinear systems

Abstract: This paper presents a development framework for dynamic positioning control systems for marine vessels in managed ice. Due to the complexity of the vessel-ice and ice-ice interactions a configurable high fidelity numerical model simulating the vessel, the ice floes, the water, and the boundaries is applied. The numerical model is validated using experimental data and coupled with a control application incorporating sensor models, control systems, actuator models, and other external dynamics to form a closed loop development platform. The ice drift reversal is simulated by moving the positioning reference frame in an elliptic trajectory, rather than moving each individual ice floe. A control plant model is argued, and a control system for managed ice is proposed based on conventional open water design methods. A case study shows that dynamic positioning in managed ice is feasible for some moderate ice conditions.

PDF PDF (5888 Kb)        DOI: 10.4173/mic.2014.4.3

DOI forward links to this article:
  [1] Ivan Metrikin (2014), doi:10.4173/mic.2014.4.2
  [2] Roger Skjetne, Lars Imsland and Sveinung Løset (2014), doi:10.4173/mic.2014.4.1
  [3] Oivind Kare Kjerstad and Roger Skjetne (2016), doi:10.1109/ACCESS.2016.2553719
  [4] Edoardo I. Sarda, Huajin Qu, Ivan R. Bertaska and Karl D. von Ellenrieder (2016), doi:10.1016/j.oceaneng.2016.09.037
  [5] Awantha Jayasiri, Salim Ahmed and Syed Imtiaz (2017), doi:10.1016/j.ifacol.2017.08.396
  [6] Awantha Jayasiri, Anirudh Nandan, Syed Imtiaz, Don Spencer, Shameem Islam and Salim Ahmed (2017), doi:10.1109/TASE.2017.2698923
  [7] Kaiye Hu, Yong Ding, Hongwei Wang, Dapeng Xiong and Di Yang (2019), doi:10.1007/s11804-019-00078-6

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  title={{Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice}},
  author={Kjerstad, Øyvind Kåre and Skjetne, Roger},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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