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Dynamic Positioning of Vessels Using a UKF-Based Observer and an NMPC-Based Controller | IEEE Journals & Magazine | IEEE Xplore

Dynamic Positioning of Vessels Using a UKF-Based Observer and an NMPC-Based Controller


Abstract:

This paper presents a solution to the problem of dynamic positioning (DP) of vessels in ice-infested environments using a nonlinear observer and a finite-horizon optimal ...Show More

Abstract:

This paper presents a solution to the problem of dynamic positioning (DP) of vessels in ice-infested environments using a nonlinear observer and a finite-horizon optimal controlbased approach. An unscented Kalman filter-based nonlinear observer is developed to estimate both the vessel states and the unknown inputs, such as the ice load. To perform better control and disturbance rejection, a nonlinear model predictive controller is employed for DP. The developed modules are integrated with a commercial vessel maneuvering software, and promising realtime results are generated.
Published in: IEEE Transactions on Automation Science and Engineering ( Volume: 14, Issue: 4, October 2017)
Page(s): 1778 - 1785
Date of Publication: 13 June 2017

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