Title :
Dynamic positioning with wave filtering using a passive controller structure
Author :
Johannessen, Erling ; Egeland, Olav
Author_Institution :
Div. of Eng. Cybern., Inst. of Technol., Trondheim, Norway
Abstract :
A system for dynamic positioning with wave filtering for surface vessels is derived using a passive controller structure. The nominal performance of the system is comparable to existing high performance systems based on LQG control. In addition, robust stability is ensured from the passivity properties of the total system, and passivity based adaptive schemes based on a linear parametrization of the equation of motion can be applied
Keywords :
adaptive control; filtering and prediction theory; position control; ships; stability; LQG control; dynamic positioning; equation of motion; high performance systems; linear parametrization; passive controller structure; passivity based adaptive schemes; robust stability; surface vessels; wave filtering; Adaptive control; Control systems; Equations; Filtering; Frequency; Marine vehicles; Passive filters; Robust stability; Surface waves; Surges;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325524
