Nonlinear observers design for multivariable ship motion control

• Autorzy: Tomera M.
• Języki publikacji: EN

Abstrakty

EN

This paper presents the designs of two observers, which are: the extended Kalman filter and the nonlinear passive observer. Based on the measured values of ship position and heading, the observers estimate the surge, sway and yaw velocities of the ship motion. The observers make use of the simplified nonlinear mathematical model of ship motion in which the neglected ship dynamics and disturbances are modelled using bias. The designed observers firstly have been simulated on a computer model where their parameters were calibrated, and then were implemented on the physical model of the training ship “Blue Lady” in the ship handling centre in Ilawa-Kamionka. The comparative analysis was done with respect to the estimated variables describing the ship motion in three directions: surge, sway and yaw.

Słowa kluczowe

EN

extended Kalman filter; nonlinear observers; ship control; dynamic positioning

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2012
• Tom: S 1
• Strony: 50--56
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Tomera M.

• Faculty of Marine Electrical Engineering, Gdynia Maritime University, Morska 81-87 81-225 Gdynia, POLAND,

Bibliografia

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