“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

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  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}