Time-Varying Model-Based Observer for Marine Surface Vessels in Dynamic Positioning

Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Skjetne, Roger; Calabrò, Vincenzo

doi:10.1109/access.2017.2731998

Cited by 17 publications

(8 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…due to sudden large wave trains, ice loads, frequent setpoint changes, etc., and the question has been asked if a slow integral action is suitable. As seen for instance in Refsnes and Sørensen (2007), Vaernø et al (2016), Vaernø et al (2017), Kjerstad and Skjetne (2016), Lindegaard (2003), and as discussed in Brodtkorb et al (2016) and in Brodtkorb et al (2018), the bias load can vary rapidly, even for common situations such as heading changes. In these instances, effective compensation of the bias load is beneficial.…”

Section: Introductionmentioning

confidence: 94%

Compensation of bias loads in dynamic positioning of marine surface vessels

2019

Self Cite

View full text Add to dashboard Cite

This paper investigates different methods for compensating the mean and slowly varying environmental loads, and unmodeled dynamics (bias loads) in dynamic positioning of marine vessels. Four different methods are compared; using the bias estimate from an observer tuned to estimate position and velocity well, using a wave-filtered version of this bias load, using the estimate from a separate observer tuned to work well for estimating the bias loads, and finally traditional integral action on the tracking errors. The results show that the bias from the bias observer is the best solution, both in transients and steady state. Standard integral action matches the steady state performance, but is slower in transients. The estimate from the observer used for position and velocity is fast in transients, but too oscillatory in the bias state. The wave-filtered version of this has less oscillations, but falls short compared to the other methods due to added phase lag from the extra wave filter. Using a bias estimate from an observer has benefits over typical integral action, such as the possibility of offline or openloop tuning and avoiding integral windup issues. For the comparison study, a 6 DOF simulation model of a supply vessel is used.

show abstract

Section: Introductionmentioning

confidence: 94%

Compensation of bias loads in dynamic positioning of marine surface vessels

2019

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, in its implementation, the upper command has limitations in monitoring and supervising location personnel sent to the field [4]. So, we need a system that can monitor the position and location of these personnel [5], [6]. IoT technology plays a significant role in providing effective and efficient solutions.…”

Section: Introductionmentioning

confidence: 99%

Optimizing the Personnel Position Monitoring System Using the Global Positioning System in Hostage Release

Irmanto,

Sujito,

Aripriharta

et al. 2024

intensif

View full text Add to dashboard Cite

In the contemporary era of globalization, maintaining public order depends on strong security measures. Addressing security challenges, particularly in hostage release scenarios, requires rapid and appropriate responses, highlighting the need for efficient personnel deployment. This research proposes an advanced solution using a GPS Tracking System which uses a sequential method by utilizing digital photos from GPS satellites to monitor the movement of individuals and objects. Specifically applied to the Sandra rescue mission, our research uses the NodeMCU ESP8266 component, which integrates GPS and Wi-Fi functions while considering wind direction. Tests performed demonstrated an impressive success rate of 98.6%, demonstrating the effectiveness of our real-time personnel positioning approach.

show abstract

“…However, the DP system is a complex nonlinear system with multi-inputs and multi-outputs (MIMO), which is easily affected by external disturbances. Vaerno et al [14] designed a model-based disturbance observer to estimate the external disturbances acting on the DP ship. Brodtkorb et al [15] developed an online estimation method for unknown disturbances to design a DP controller, which realized the feedforward compensation of wave disturbances.…”

Section: Introductionmentioning

confidence: 99%

Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints

Gong

Zhang

2022

JMSE

View full text Add to dashboard Cite

In this paper, a variable gain prescribed performance control law is proposed for dynamic positioning (DP) of ships with positioning error constraints, input saturation and unknown external disturbances. The error performance index functions are designed to preset the prescribed performance bounds and the error mapping functions are constructed to incorporate the prescribed performance bounds into the DP control design. The variable gain technique is used to limit the output amplitude of the control law to avoid input saturation of the system by dynamically adjusting the control gain of the DP control law according to the positioning errors, and the error mapping function replaces the positioning error as a recursive sliding-mode surface to realize the prescribed performance control of the system and guarantee the stability of the closed-loop system with variable control gains. It has been proved that the proposed DP control law can make the uniformly ultimately boundedness of all signals in the DP closed-loop control system. The numerical simulation results illustrate that the proposed control law can make the ship’s position and heading maintain at the desired value with positioning error constraints, enhance the non-fragility of the DP control law to the perturbation of system’s parameters and improve the system’s rejection ability to external disturbances.

show abstract

Time-Varying Model-Based Observer for Marine Surface Vessels in Dynamic Positioning

Cited by 17 publications

References 10 publications

Compensation of bias loads in dynamic positioning of marine surface vessels

Compensation of bias loads in dynamic positioning of marine surface vessels

Optimizing the Personnel Position Monitoring System Using the Global Positioning System in Hostage Release

Variable Gain Prescribed Performance Control for Dynamic Positioning of Ships with Positioning Error Constraints

Contact Info

Product

Resources

About