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 Evgeny Veremey,Margarita Sotnikova.Optimal Filtering Correction for Marine Dynamical Positioning Control System[J].Journal of Marine Science and Application,2016,(4):452-462.[doi:10.1007/s11804-016-1370-x]
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Optimal Filtering Correction for Marine Dynamical Positioning Control System


Optimal Filtering Correction for Marine Dynamical Positioning Control System
Evgeny Veremey Margarita Sotnikova
Evgeny Veremey Margarita Sotnikova
Applied Mathematics and Control Processes Faculty, Saint Petersburg University, Saint Petersburg 198504, Russia
dynamical positioning|control law|observer|stability|filter|external disturbances|sea waves|corrector|integral action
This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning (DP) regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.


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Received date:2015-12-18;Accepted date:2016-3-10。
Foundation item:Partially Supported by the Russian Foundation for Basic Research (RFBR) under Research Project No. 14-07-00083a
Corresponding author:Evgeny Veremey
Last Update: 2016-11-24