Dynamic positioning of floating vessles based on Kalman filtering and 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 motioninresponse to forces from thrusters, wind, waves and water current. The system uses a Kalman filter for optimal estimation of vessel motions and enviromental forces from wind, waves and current. The control where the oscillatory, wave-induced component is system is based on feedback from the motion variables 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. Reference is given to installations made on actual vessels.

Global robust and adaptive output feedback dynamic positioning of surface ships

“…These filters are used to provide estimates of the vessel velocities since the vessel's velocities are usually not measured in a dynamic positioning system. See for example Balchen et al (1980), Grimble et al (1980), Sorensen et al (1996).…”

Design of a dynamic positioning system for a moored floating platform using QFT robust control

“…The LQG design technique was first applied to dynamic positioning by ( [3], [4]) and ( [5], [6]). Later Grimble and co-authors suggested both H and μ-methods for filtering and control ( [7], [8]).…”

Dynamic Positioning of Moored Vessels Based on Structural Reliability

“…The current research on PM systems is based on the experience obtained from research on dynamic positioning (DP) systems since the 1970's. DP systems based on optimal control theory and Kalman-filtering were proposed in [1], and extended in [2], [3], [4], [5], [6], [7] and [8]. In recent years, nonlinear controllers have been developed for DP systems based on integrator backstepping techniques (see [9], [10], [11] and [12]).…”