“A Dynamic Positioning System Based on Kalman Filtering and Optimal Control”

Authors: Jens G. Balchen, Nils A. Jenssen, Eldar Mathisen and Steinar Sælid,
Affiliation: NTNU, Department of Engineering Cybernetics, SINTEF and Kongsberg Våpenfabrikk AS
Reference: 1980, Vol 1, No 3, pp. 135-163.

Keywords: Dynamic positioning, Kalman filtering, optimal control

Abstract: This paper describes a computer-based, dynamic positioning system for floating vessels. The system is based on a detailed mathematical model of vessel motion in response to forces from thrusters, wind, waves and water current. The system uses a Kalman filter for optimal estimation of vessel motions and environmental forces from wind, waves and current. The control system is based on feedback from the motion variables where the oscillatory, wave-induced component is removed by the estimator. Feedback from the water current estimate provides the integral action of the system and feed forward from the wind force estimates are implemented. Simulation results and recordings from actual operation of the system indicate an excellent system performance.

PDF PDF (6059 Kb)        DOI: 10.4173/mic.1980.3.1

DOI forward links to this article:
[1] S. Mitra, L. V. Hai, L. Jing and B. C. Khoo (2012), doi:10.1007/s00773-012-0157-2
[2] Olav Egeland (1985), doi:10.4173/mic.1985.2.3
[3] A. Loria, T.I. Fossen and E. Panteley (2000), doi:10.1109/87.826804
[4] Thor I. Fossen, Svein I. Sagatun and Asgeir J. Sørensen (1996), doi:10.4173/mic.1996.2.7
[5] Dong Trong Nguyen and Asgeir J. SØrensen (2009), doi:10.1109/JOE.2009.2034553
[6] B.T. Linfoot and V.J.C. Wright (1995), doi:10.1016/0967-0661(95)00045-V
[7] G. Ambrosino, F. Garofalo and L. Glielmo (1989), doi:10.1007/BF00939800
[8] A.J. Sørensen, S.I. Sagatun and T.I. Fossen (1996), doi:10.1016/0967-0661(96)00013-5
[9] Ming-chung Fang and Zi-yi Lee (2013), doi:10.1007/s13344-013-0040-x
[10] Ch. M. Hajiyev and F. Caliskan (2003), doi:10.1016/S0019-0578(07)60113-X
[11] O.A. Asbjørnsen (1984), doi:10.1016/0098-1354(84)80005-8
[12] Bernt J. Leira, Qiaofeng Chen, Asgeir J. Sørensen and Carl M. Larsen (2002), doi:10.1115/1.1491274
[13] Trygve Lauvdal and Thor I. Fossen (1996), doi:10.4173/mic.1996.2.4
[14] J.G. Balchen (1991), doi:10.1016/B978-0-08-036203-8.50093-6
[15] V. G. Gourishankar, L. Trybus and R. E. Rink (1986), doi:10.1002/oca.4660070305
[16] T.I. Fossen, S.I. Sagatun and A.J. Sørensen (1996), doi:10.1016/0967-0661(96)00014-7
[17] S. Mitra, C.Z. Wang, J.N. Reddy and B.C. Khoo (2012), doi:10.1016/j.oceaneng.2011.09.015
[18] Bernt J. Leira, Asgeir J. Sørensen and Carl M. Larsen (2004), doi:10.1016/S0167-4730(03)00018-3
[19] Erling Johannessen and Olav Egeland (1996), doi:10.4173/mic.1996.2.1
[20] Dong T. Nguyen and Asgeir J. Sørensen (2009), doi:10.1016/j.conengprac.2009.03.001
[21] Shaoji Fang, Bernt J. Leira and Mogens Blanke (2013), doi:10.1016/j.strusafe.2012.10.008
[22] Morten Breivik and Gunnar Sand (2009), doi:10.4173/mic.2009.3.2
[23] (2011), doi:10.1002/9781119994138.refs
[24] E.A. Tannuri and H.M. Morishita (2006), doi:10.1016/j.apor.2006.05.005
[25] O.J. Sørdalen (1997), doi:10.1016/S0967-0661(97)84361-4
[26] Asgeir J. Sørensen (2005), doi:10.1016/j.arcontrol.2004.12.001
[27] Asgeir J. S rensen, Bernt Leira, Jann Peter Strand and Carl M. Larsen (2001), doi:10.1002/rnc.602
[28] Eduardo A. Tannuri, Leonardo K. Kubota and Celso P. Pesce (2006), doi:10.1115/1.2199559
[29] P.I. Barth Berntsen, O.M. Aamo and B.J. Leira (2008), doi:10.1080/00207170701813844
[30] Asgeir J. Sørensen, Svein I. Sagatun and Thor I. Fossen (1996), doi:10.4173/mic.1996.2.6
[31] Trong Dong Nguyen, Asgeir J. Sørensen and Ser Tong Quek (2007), doi:10.1016/j.automatica.2006.11.017
[32] Li Zhou, Torgeir Moan, Kaj Riska and Biao Su (2013), doi:10.1007/s00773-013-0220-7
[33] Asgeir J. Sørensen (2011), doi:10.1016/j.arcontrol.2011.03.008
[34] Asgeir J. Sørensen and Jann Peter Strand (2000), doi:10.1016/S0967-0661(99)00155-0
[35] Haizhi Liang, Luyu Li and Jinping Ou (2014), doi:10.1007/s11802-014-2066-y
[36] O.L.R. Jacobs (1982), doi:10.1016/B978-0-08-027618-2.50012-7
[37] Yang Yang, Chen Guo and JiaLu Du (2014), doi:10.1007/s11432-014-5127-3
[38] Shaoji Fang, Mogens Blanke and Bernt J. Leira (2015), doi:10.1016/j.conengprac.2014.11.009
[39] Haizhi Liang, Luyu Li and Jinping Ou (2015), doi:10.1007/s00773-015-0322-5
[40] Flavia Benetazzo, Gianluca Ippoliti, Sauro Longhi and Paolo Raspa (2015), doi:10.1016/j.oceaneng.2015.07.001
[41] Jiang Wei, Zhao Xia and Chen Qijun (2009), doi:10.1109/IJCBS.2009.80
[42] Werneld Egno Ngongi, Jialu Du and Rui Wang (2015), doi:10.1007/s12555-014-0239-5
[43] O.M. Aamo and T.I. Fossen (1999), doi:10.1109/CCA.1999.801126
[44] Thor Fossen and Tristan Perez (2009), doi:10.1109/MCS.2009.934408
[45] J.O. Hallset (1991), doi:10.1109/ICAR.1991.240509
[46] Pradeep Lall, Ryan Lowe and Kai Goebel (2012), doi:10.1109/TIE.2012.2183834
[47] S. Saelid, N. Jenssen and J. Balchen (1983), doi:10.1109/TAC.1983.1103225
[48] Garcia (1994), doi:10.1109/CCA.1994.381211
[49] Per Ivar Barth Berntsen, Ole Morten Aamo and Bernt J. Leira (2006), doi:10.1109/CDC.2006.377085
[50] P. Fung and M. Grimble (1983), doi:10.1109/TAC.1983.1103226
[51] E. Johannessen and O. Egeland (1993), doi:10.1109/CDC.1993.325524
[52] Flavia Benetazzo, Gianluca Ippoliti, Sauro Longhi, Paolo Raspa and Asgeir J. Sorensen (2012), doi:10.1109/MED.2012.6265804
[53] Pradeep Lall, Junchao Wei and Kai Goebel (2012), doi:10.1109/ITHERM.2012.6231569
[54] Pradeep Lall, Ryan Lowe and Kai Goebel (2012), doi:10.1109/ICPHM.2012.6299536
[55] V. Hassani, A. J. Sorensen, A. M. Pascoal and A. P. Aguiar (2012), doi:10.1109/ACC.2012.6315094
[56] P. Lall, R. Lowe and K. Goebel (2012), doi:10.1109/TR.2012.2220698
[57] Pradeep Lall, Junchao Wei and Lynn Davis (2013), doi:10.1109/ECTC.2013.6575764
[58] Pradeep Lall, Junchao Wei and Lynn Davis (2013), doi:10.1109/ICPHM.2013.6621457
[59] Pradeep Lall and Junchao Wei (2015), doi:10.1109/TDMR.2014.2369859
[60] Werneld Ngongi and Jialu Du (2014), doi:10.1109/ChiCC.2014.6895526
[61] Sangsoo Ryu and M.H. Kim (2003), doi:10.1109/OCEANS.2003.178114
[62] Pradeep Lall, Ryan Lowe and Kai Goebel (2011), doi:10.1109/ESIME.2011.5765855
[63] Lu Liu, Dan Wang and Zhouhua Peng (2014), doi:10.1109/IJCNN.2014.6889509
[64] A.J. Sorensen, J.P. Strand and H. Nyberg (2002), doi:10.1109/OCEANS.2002.1191913
[65] Pradeep Lall, Ryan Lowe and Kai Goebel (2010), doi:10.1109/ECTC.2010.5490691
[66] Xue Tao Chen and Woei Wan Tan (2010), doi:10.1109/ICCA.2010.5524273
[67] Lu Liu, Dan Wang and Zhouhua Peng (2014), doi:10.1109/ChiCC.2014.6896462
[68] Mingyu Fu, Ding Fuguang, Li Meng and Yi Pengfei (2010), doi:10.1109/ICCA.2010.5524459
[69] Zhouhua Peng, Dan Wang, Hao Wang, Wei Wang and Liang Diao (2014), doi:10.1109/WCICA.2014.7053386
[70] Zhengru Ren, Roger Skjetne and Vahid Hassani (2015), doi:10.1016/j.ifacol.2015.10.286
[71] Ming-Chung Fang and Zi-Yi Lee (2015), doi:10.12989/ose.2015.5.3.199
[72] Morten Breivik, Stig Kvaal and Per Østby (2015), doi:10.1016/j.ifacol.2016.01.001
[73] Ming-Chung Fang and Zi-Yi Lee (2016), doi:10.1016/j.ijnaoe.2015.09.003
[74] Mehdi Loueipour, Mehdi Keshmiri, Mohammad Danesh and Mohsen Mojiri (2015), doi:10.1109/TIM.2015.2459551
[75] Vahid Hassani, António M. Pascoal, A. Pedro Aguiar and Michael Athans (2010), doi:10.3182/20100915-3-DE-3008.00026
[76] Vahid Hassani, Asgeir J. Sørensen and António M. Pascoal (2012), doi:10.3182/20120531-2-NO-4020.00042
[77] F. Benetazzo, G. Ippoliti, S. Longhi and P. Raspa (2012), doi:10.3182/20120531-2-NO-4020.00041
[78] Zhouhua Peng, Dan Wang and Jun Wang (2016), doi:10.1109/TMECH.2015.2508647
[79] P. Raspa, F. Benetazzo, G. Ippoliti, S. Longhi and Asgeir J. Sørensen (2013), doi:10.3182/20130918-4-JP-3022.00063
[80] Lin-lin Wang, Wen-hua Wang, Ya-zhen Du, Hao Gao and Yi Huang (2016), doi:10.1007/s00773-016-0403-0
[81] Jiaojiao Li and Guoqing Xia (2016), doi:10.1109/FSKD.2016.7603477
[82] Wenhua Li, Yuqing Sun, Haiquan Chen and Gang Wang (2016), doi:10.1007/s00773-016-0425-7
[83] Vahid Hassani, Asgeir J. Sørensen, António M. Pascoal and Michael Athans (2017), doi:10.1016/j.oceaneng.2016.10.041
[84] Tristan Perez (2017), doi:10.1002/9781118476406.emoe110
[85] Karl Kaasen, Halgeir Ludvigsen and Kristian Aas (2017), doi:10.4043/27794-MS
[86] Shengwen Xu, Xuefeng Wang, Lei Wang and Bo Li (2017), doi:10.1080/17445302.2017.1316905
[87] Asgeir J. Sørensen (2004), doi:10.1016/S1474-6670(17)31706-8
[88] Richard I. Stephens (2004), doi:10.1016/S1474-6670(17)31707-X
[89] Asgeir J. Sørensen, Bernt Leira, Jann Peter Strand and Carl M. Larsen (2000), doi:10.1016/S1474-6670(17)37086-6
[90] Asgeir J. Sørensen and Jann Peter Strand (1998), doi:10.1016/S1474-6670(17)38418-5
[91] Ole Jakob Sørdalen (1997), doi:10.1016/S1474-6670(17)46510-4
[92] Erling Johannessen and Olav Egeland (1995), doi:10.1016/S1474-6670(17)51644-4
[93] Thor I. Fossen, Svein I. Sagatun and Asgeir J. Sørensen (1995), doi:10.1016/S1474-6670(17)51695-X
[94] Trygve Lauvdal and Thor I. Fossen (1995), doi:10.1016/S1474-6670(17)51680-8
[95] Asgeir J. Sørensen, Svein I. Sagatun and Thor I. Fossen (1995), doi:10.1016/S1474-6670(17)51646-8
[96] R. Ferreiro García and F.J. Pérez Castelo (1995), doi:10.1016/S1474-6670(17)51694-8
[97] T.S. Schei (1995), doi:10.1016/S1474-6670(17)51647-X
[98] E.A. Barros and H.M. Morishita (1991), doi:10.1016/S1474-6670(17)51337-3
[99] G. Ambrosino, G. Celentano and F. Garofalo (1987), doi:10.1016/S1474-6670(17)55209-X
[100] Wlodzimierz Chocianowicz and Jerzy Peja (1992), doi:10.1016/S1474-6670(17)50306-7
[101] S. Saelid, T. Svanes, T. Onshus and N.A. Jenssen (1984), doi:10.1016/S1474-6670(17)61422-8
[102] O.L.R. Jacobs (1982), doi:10.1016/S1474-6670(17)63323-8
[103] Richard I. Stephens (2010), doi:10.1177/002029401004301004
[104] O.J. Sørdalen (1996), doi:10.1016/S1474-6670(17)58991-0
[105] Prakash Chandra Sahu, Ramesh Chandra Prusty and Sidhartha Panda (2017), doi:10.1109/ICCPCT.2017.8074377
[106] Mogens Blanke and Dong T. Nguyen (2018), doi:10.1016/j.oceaneng.2017.11.042
[107] Rohan S Soman, Falguni Gopmandal and Arun Ghosh (2018), doi:10.1109/INDIANCC.2018.8307967
[108] Vahid Hassani, António M. Pascoal and Asgeir J. Sørensen (2018), doi:10.1016/j.oceaneng.2018.01.021
[109] Xiaogong Lin, Jun Nie, Yuzhao Jiao, Kun Liang and Heng Li (2018), doi:10.1016/j.oceaneng.2018.03.086
[110] Zhiyu Jiang, Lin Li, Zhen Gao, Karl Henning Halse and Peter Christian Sandvik (2018), doi:10.1016/j.marstruc.2018.04.010
[111] Shengwen Xu, Xuefeng Wang, Lei Wang and Bo Li (2018), doi:10.1007/s00773-018-0580-0
[112] Shuyan Xia, Daolin Xu, Haicheng Zhang and Yousheng Wu (2018), doi:10.1177/1077546318790592
[113] Shuyan Xia, Daolin Xu, Haicheng Zhang and Yousheng Wu (2018), doi:10.1016/j.jsv.2018.10.006
[114] Werneld Egno Ngongi and Jia Lu Du (2014), doi:10.4028/www.scientific.net/AMM.490-491.803
[115] Sondre Sanden Tørdal and Geir Hovland (2019), doi:10.1115/1.4041643
[116] Guoqing Xia, Chuang Sun, Bo Zhao and Jingjing Xue (2019), doi:10.1007/s12555-018-0383-4
[117] Subhashis Nandy, Joseph Prabhu J, Vishwanath Nagarajan and Om Prakash Sha (2019), doi:10.1007/s00773-019-00635-2
[118] Eduardo A. Tannuri, Celso P. Pesce, Alexandre N. Simos, Carlos H. Fucatu, Paulo R. Ferreira and Nicholas Howard (2008), doi:10.1007/BF03449227
[119] Yang Yang, Jialu Du, Guangqiang Li, Wenhua Li and Chen Guo (2012), doi:10.1007/978-3-642-27329-2_33
[120] Anh-Minh D. Tran, Jung-In Yoon and Young-Bok Kim (2016), doi:10.1007/978-3-319-27247-4_34
[121] Robert Skulstad, Guoyuan Li, Thor I. Fossen, Bjornar Vik and Houxiang Zhang (2019), doi:10.1109/MRA.2019.2918125
[122] André S.S. Ianagui and Eduardo A. Tannuri (2018), doi:10.1016/j.ifacol.2018.09.478
[123] Lijun Wang, Nikolaos I. Xiros and Eleftherios K. Loghis (2019), doi:10.1007/s11804-019-00116-3
[124] Fang Deng, Hua-Lin Yang, Long-Jin Wang and Wei-Min Yang (2019), doi:10.1007/s12555-019-0036-2
[125] C. S. Chin and C. S. Lio (2020), doi:10.1007/978-981-15-0474-7_10
[126] Michael J. Grimble and Pawe Majecki (2020), doi:10.1007/978-1-4471-7457-8_15
[127] Andre S. S. Ianagui, Pedro C. De Mello and Eduardo A. Tannuri (2020), doi:10.1109/ACCESS.2020.2994515
[128] Werneld Ngongi, Jialu Du, Erick Massami, Wen-Jer Chang and Eliamin Kassembe (2020), doi:10.1049/joe.2018.5270
[129] Mojtaba Mehrzadi, Yacine Terriche, Chun-Lien Su, Muzaidi Bin Othman, Juan C. Vasquez and Josep M. Guerrero (2020), doi:10.3390/en13123188
[130] Dengfeng Xie, Baozhu Jia and Yafei Ren (2018), doi:10.1109/CAC.2018.8623119
[131] Shuyan Xia, Daolin Xu, Haicheng Zhang, Qijia Shi, Guilin Wen and Yousheng Wu (2020), doi:10.1016/j.oceaneng.2020.107700
[132] Lihong You and Xinjiang Wei (2021), doi:10.1007/978-981-15-8450-3_10
[133] O. I. Borisov, A. R. Dahl, A. A. Pyrkin, F. B. Gromova and R. Skjetne (2020), doi:10.17587/mau.21.566-574
[134] Xue Du, Dong Chen and Zebo Yan (2020), doi:10.1177/1729881420933835
[135] Mutaz Ryalat, Hazem Salim Damiri and Hisham ElMoaqet (2020), doi:10.3390/app10207314
[136] Guoqing Xia and Binyuan Xia (2020), doi:10.1109/ICMA49215.2020.9233822
[137] Kunal Tiwari and P. Krishnankutty (2021), doi:10.1007/978-981-15-8506-7_28
[138] Youqiang Huang, Defeng Wu, Zibin Yin and Zhi-Ming Yuan (2021), doi:10.1016/j.oceaneng.2020.108487
[139] Huifeng Zhang, Xinjiang Wei, Yongli Wei and Xin Hu (2021), doi:10.1016/j.amc.2020.125929
[140] Justin M. Kennedy, Alejandro Donaire and Jason J. Ford (2021), doi:10.1080/00207179.2020.1866779
[141] Shuaiyang Wang, Xuanfang Yang, Zheng Wang, Liangkun Guo, L. Zhang, S. Defilla and W. Chu (2021), doi:10.1051/e3sconf/202123304032
[142] (2021), doi:10.1002/9781119575016.ref
[143] Baris Bidikli (2021), doi:10.1016/j.oceaneng.2021.108948
[144] Simen Sem Overeng, Dong Trong Nguyen and Geir Hamre (2021), doi:10.1016/j.oceaneng.2021.109433
[145] Subhashis Nandy, Vishwanath Nagarajan and Om Prakash Sha (2021), doi:10.1177/14750902211036340
[146] Christoph A Thieme, Borge Rokseth and Ingrid B Utne (2021), doi:10.1177/1748006X211043657
[147] Maria V Clavijo, Adriana M Schleder, Enrique Lopez Droguett and Marcelo R Martins (2021), doi:10.1177/1748006X211051805
[148] Jinjiang Li, Xianbo Xiang and Shaolong Yang (2021), doi:10.1016/j.neucom.2021.03.136
[149] Yang Qu and Lilong Cai (2022), doi:10.1016/j.oceaneng.2022.110603
[150] Chao Shen and Yang Shi (2022), doi:10.1109/ICPS51978.2022.9816891
[151] Ji i Bro , Toma Tichy, Vangelis Angelakis and Zuzana B linova (2022), doi:10.3390/app12094624
[152] Xinjiang Wei, Huifeng Zhang and Yongli Wei (2022), doi:10.1016/j.oceaneng.2022.112173
[153] Guoqing Xia, Benwei Zhang and Xingling Shao (2022), doi:10.1155/2022/9262457
[154] Fang Wang, Yong Bai, Jie Bai and Liang Zhao (2022), doi:10.1080/17445302.2022.2126121
[155] Falguni Gopmandal, Arun Ghosh and Avinash Kumar (2022), doi:10.1016/j.oceaneng.2022.113054
[156] Changde Liu, Yufang Zhang, Min Gu, Longhui Zhang, Yanbin Teng, Zhengfeng Liu, Qiang Sun, Naxin Wei and Asier Ibeas (2022), doi:10.1155/2022/5445420
[157] Tobias Hahn, Carsten Rethfeldt and Torsten Jeinsch (2022), doi:10.1016/j.ifacol.2022.10.468
[158] Wei Ding and Jin-Xi Zhang (2022), doi:10.1109/DOCS55193.2022.9967732
[159] Qu Yang and Lilong Cai (2023), doi:10.1016/j.oceaneng.2022.113311
[160] Yang Qu and Lilong Cai (2022), doi:10.1109/TMECH.2022.3181245
[161] Anna Miller and Andrzej Rak (2022), doi:10.3390/s23010306
[162] Nour Bargoth, Christer Dalen and David Di Ruscio (2022), doi:10.4173/mic.2022.3.3
[163] Stig Kvaal, Per Ostby, Morten Breivik, Stig Kvaal, Per Ostby and Morten Breivik (2022), doi:10.4173/mic.2022.4.3
[164] V. Hassani and A. M. Pascoal (2015), doi:10.1007/978-3-319-16133-4_17
[165] Anna Miller and Andrzej Rak (2023), doi:10.3390/s23073415
[166] Juha Kortelainen, Tatiana Minav and Kari Tammi (2023), doi:10.3389/friot.2023.1108777
[167] Karl Erik Kaasen, Halgeir Ludvigsen and Lars Geir Bjorheim (2023), doi:10.4043/32457-MS
[168] Dimas M. Rachman, Yusuke Aoki, Yoshiki Miyauchi, Naoya Umeda and Atsuo Maki (2023), doi:10.1007/s00773-023-00950-9
[169] Hiroaki Koike, Leo Dostal, Ryohei Sawada, Yoshiki Miyauchi and Atsuo Maki (2023), doi:10.1007/s00773-023-00953-6
[170] Fang Deng, Hanlin Zhang, Qiang Ding, Shuai Zhang, Zhiyu Du and Hualin Yang (2024), doi:10.1016/j.oceaneng.2023.116553
[171] Abolfazl Meighani Nejad, Seyed Mostafa Hosseini, Behnam Sobhani and Abbas Harifi (2024), doi:10.1016/j.engappai.2024.107890
[172] Seiya MORO, Hiroaki UCHIDA, Kanta KATO, Kenzi NOMURA, Satoharu SEIKINE and Teruhiro YAMANO (2023), doi:10.37221/eaef.16.4_101
[173] Jiaming Liu, Zhongming Xiao, Kai Wang, Shuo Huang and Yu Du (2024), doi:10.1016/j.oceaneng.2024.117399
[174] Quan Shi, Rongze Wang, Xin Li and Jianmin Yang (2024), doi:10.1016/j.oceaneng.2024.117534
[175] Zhejiaqi Ma, Kanghui Zeng, Yibing Wang, Shengnan Tian, Chengda Lu, Yawu Wang and Min Wu (2024), doi:10.1080/00207721.2024.2351035
[1] BALCHEN, J.G., JENSSEN, N.A., SAELID, S., (1976). Dynamic Positioning Using Kalman Filtering and Optimal Control Theory, IFAC/IFIP Symposium on Automation in Offshore Oil Field Operation..North-Holland Publishing Company.
[2] JAZWINSKI, A.H., (1970). Stochastic Process and Filtering Theory, New York: Academic Press.
[3] SARGENT, J.S., COWGILL, P.N., (1976). Design Considerations for Dynamically Positioned Utility Vessels, Offshore Technology conference, Dallas, U.S.A.

  title={{A Dynamic Positioning System Based on Kalman Filtering and Optimal Control}},
  author={Balchen, Jens G. and Jenssen, Nils A. and Mathisen, Eldar and Sælid, Steinar},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}