The use of wave filter design in Kalman filter state estimation of the automatic steering problem of a tanker in a seaway

Reid, R. E. H.; Tuğcu, A. K.; Mears, B. C.

doi:10.1109/tac.1984.1103591

Cited by 30 publications

(11 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This approach is similar to those proposed by Reid et al 11 and Shi et al 12 for the dynamic positioning problem of large ships. However, this article focuses on the filtering of depth rather than the motion in the horizontal plane.…”

Section: Introductionmentioning

confidence: 62%

See 1 more Smart Citation

Study of autonomous underwater vehicle wave disturbance rejection in the diving plane

Dantas

Cruz

Barros

2013

Proceedings of the Institution of Mechanical Engineers, Part M:

View full text Add to dashboard Cite

Autonomous underwater vehicles operating near the sea surface are subject to wave disturbances in their motion, which can affect severely the data acquisition during the vehicle motion. Bathymetric maps, for example, may suffer a big loss in quality due to such kind of disturbances that can impose oscillations in the vehicle depth and attitude. This article describes a controller structure for compensating the wave disturbances in the vertical plane for a torpedo-like autonomous underwater vehicle, based on a modified version of the linear quadratic Gaussian with loop transfer recovery control combined with a wave filter. The proposed methodology uses additional to the classic linear quadratic Gaussian with loop transfer recovery design the measurement of non-controlled states, such as the pitch rate and heave velocity, in the control action. The wave disturbances were filtered away by a shaping filter fitted to the sea spectrum, and the sensor signals were integrated by an extended Kalman filter. The proposed control methodology was tested against the classical linear quadratic Gaussian with loop transfer recovery controller in a 6-degree-of-freedom non-linear autonomous underwater vehicle simulator, producing a better performance in most demanding conditions such high wave crests. The tests also revealed the impact of the hydroplane geometry on the controller performance, which should not be underestimated by the autopilot designer.

show abstract

Section: Introductionmentioning

confidence: 62%

“…The wave elevation filtering was performed based on the methodology presented by Riedel 6 and Reid et al, 11 in which a shaping filter was used to estimate the wave movement, subtracting it from the depth measurement. The wave vertical displacement can be linearly represented by two serial second-order transfer functions 11…”

Section: Shaping Filtermentioning

confidence: 99%

Study of autonomous underwater vehicle wave disturbance rejection in the diving plane

Dantas

Cruz

Barros

2013

Proceedings of the Institution of Mechanical Engineers, Part M:

View full text Add to dashboard Cite

show abstract

“…Combine (6) and (7) with a high order filter to show the forces and moments acted on the SWATH ship by irregular waves [9]. For the SWATH ship moving with forward speed U, the wave frequency will be modified according to follows.…”

Section: Wave Disturbancementioning

confidence: 99%

Adaptive fuzzy control for SWATH ship seakeeping characteristics

Liang

Wang

2012

2012 IEEE International Conference on Mechatronics and Automation

View full text Add to dashboard Cite

This paper sets out to explore the seakeeping problems of SWATH ships which may have a tendency of instability. An adaptive fuzzy controller is designed to ensure the stability of SWATH pitch motion, and also to reduce the heave motion. When the ship sails in a sea way the coefficients are changing for different heave displacement etc. The controller also anticipates the action of dynamic hydrodynamic working on the ship performance. The adjustable parameters in the used control system are updated using a fuzzy descent adaptation algorithm. Simulation tests show the method's efficiency.

show abstract

“…The parameters of A w are identified by a Kalman filter which has been applied in ship motion predictions in [28,29]. The adaptive AR model described in section 5.1 is used to predict the moment vector t. To make it comparable, the wave-induced motion is produced using the model (29) from the future prediction of t. In this case, the control input u is constant at zero.…”

Section: Simulation Comparison Of the Open-loop Predictionsmentioning

confidence: 99%

Ship motion stabilizing control using a combination of model predictive control and an adaptive input disturbance predictor

Liu

Allen

Hong

2011

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

When ships travel on the high seas, changes in the sea states and the sailing conditions induce significant uncertainties in the hydrodynamics, leading to deterioration in the performance of traditional stabilization systems. To overcome this problem, a combination of model predictive control (MPC) and an adaptive input disturbance predictor is proposed. This combination predicts the wave disturbance force by using an auto-regressive model of the input disturbance and then compensating for the predicted disturbance in the MPC framework. MPC is more appropriate than classical control when dealing with constraints. The adaptive disturbance model enhances not only the ship adaptability when travelling in varying sea conditions but also the robustness of the control system with model uncertainties. This combines the advantages of MPC and the adaptive model, and avoids performance degradations caused by estimation errors of the state observer which is commonly used within the MPC framework to estimate output disturbances. A numerical simulation shows that this combination works very well.

show abstract

The use of wave filter design in Kalman filter state estimation of the automatic steering problem of a tanker in a seaway

Cited by 30 publications

References 8 publications

Study of autonomous underwater vehicle wave disturbance rejection in the diving plane

Study of autonomous underwater vehicle wave disturbance rejection in the diving plane

Adaptive fuzzy control for SWATH ship seakeeping characteristics

Ship motion stabilizing control using a combination of model predictive control and an adaptive input disturbance predictor

Contact Info

Product

Resources

About