DocumentCode
2181284
Title
A model based wave filter for surface vessels using position, velocity and partial acceleration feedback
Author
Lindegaard, Karl-Petter ; Fossen, Thor I.
Author_Institution
Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
Volume
1
fYear
2001
fDate
2001
Firstpage
946
Abstract
We propose a scalable state estimator with wave filter for surface vessels. The filter is shown to be either globally or locally exponentially stable depending on configuration. Performance is illustrated using actual data from a full scale semi-submersible drilling rig
Keywords
acceleration measurement; asymptotic stability; feedback; filtering theory; marine systems; navigation; position measurement; state estimation; velocity measurement; full scale semi-submersible drilling rig; global exponential stability; local exponential stability; model based wave filter; partial acceleration feedback; position feedback; scalable state estimator; surface vessels; velocity feedback; Acceleration; Cybernetics; Drilling; Feeds; Filters; Frequency estimation; Kinematics; Stability; State estimation; Surface waves;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.980231
Filename
980231
Link To Document