Nonlinear Observers and Output Feedback Control with Application to Dynamically Positioned Ships
Author
Summary, in English
The suggested observer design in Fossen and Grøvlen (1998) and Grøvlen and Fossen (1996) does not cover unstable ship dynamics and we suggest a remedy for an extended class of ships. Typically thruster assisted mooring of large tankers does not fulfill the needed stability properties, so an extension to this case is motivated. We propose a method to extend the results, under a detectability condition. This condition implies stable surge dynamics, which is a natural assumption for ships. Finally, we discuss a nonlinear separation principle for stabilizing this class of ship dynamics, where we can reuse our nonlinear observer design.
Department/s
Publishing year
1998
Language
English
Publication/Series
IFAC Proceedings Volumes (IFAC-PapersOnline)
Document type
Journal article
Publisher
IFAC Secretariat
Topic
- Control Engineering
Conference name
4th IFAC Nonlinear Control Systems Design Symposium, 1998
Conference date
1998-07-01 - 1998-07-03
Conference place
Enschede, Netherlands
Status
Published
Project
- LU Robotics Laboratory
- Lund Research Programme in Autonomous Robotics, 1998-2001
ISBN/ISSN/Other
- ISSN: 2405-8963