This paper deals with the problem of the control of thrust generated by conventional bladed propeller of marine thrusters and moved by an electric motor. This paper described a control law based on the estimation of the thrust using two features: an Extended Kalman Filter to observe the torque and an reversed hydrodynamic model of the propeller to control the thrust by a Proportional-Integral controller. The performances and robustness of this control law is compared to a PI controller without estimator and to the Model-Based-Velocity control.

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