Time-Varying Model-Based Observer for Marine Surface Vessels in Dynamic Positioning
| Autor: | Roger Skjetne, Svenn Are Tutturen Værnø, Astrid H. Brodtkorb, Vincenzo Calabro |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Surface (mathematics)
0209 industrial biotechnology Steady state (electronics) Steady state General Computer Science Observer (quantum physics) Dynamic positioning Oscillation Computer science General Engineering 02 engineering and technology 01 natural sciences Stability (probability) 010305 fluids & plasmas Marine control systems 020901 industrial engineering & automation Control theory 0103 physical sciences General Materials Science lcsh:Electrical engineering. Electronics. Nuclear engineering Transient (oscillation) Observers lcsh:TK1-9971 Simulation |
| Zdroj: | 14787-14796 IEEE Access IEEE Access, Vol 5, Pp 14787-14796 (2017) |
| Popis: | This paper deals with the problem of transient events in model-based observers for dynamic positioning of marine surface vessels. Traditionally, model-based observers experience a deterioration of performance during transients, and there is a give or take relationship between transient and steady state performance. To remedy this problem, we propose to use time-varying gains for a model-based observer. The gains are aggressive during transients to improve transient performance, and relaxed in steady state to lower the oscillations of the estimates. The proposed observer is analyzed with regard to stability. Its performance is verified in both a high-fidelity simulation model, and on experimental data with the research vessel (R/V) Gunnerus. In addition, a partial closed-loop validation with R/V Gunnerus has been performed. © 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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