Observer-based robust control for dynamic positioning of large-scale heavy lift vessels

With the growing demand of large-scale heavy lift vessels in the deep-sea offshore construction works, high performance of Dynamic positioning (DP) systems is becoming ever crucial. However, current DP systems on board of heavy lift vessels do not consider model uncertainty (typically arising from mooring forces). In this paper, an observer...

Sensor Fusion and Observer Design for Dynamic Positioning

The fusion of measurements from distributed sensors for dynamic positioning (DP) system based on state estimation algorithms is studied in this thesis in order to increase the accuracy and redundancy of the reference system in DP and a state observer is also designed to estimate of the low frequency vessel motion for the input of DP controller....