Nonlinear Observers and Output Feedback Control with Application to Dynamically Positioned Ships
Författare
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.
Avdelning/ar
Publiceringsår
1998
Språk
Engelska
Publikation/Tidskrift/Serie
IFAC Proceedings Volumes (IFAC-PapersOnline)
Dokumenttyp
Artikel i tidskrift
Förlag
IFAC Secretariat
Ämne
- 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
Projekt
- LU Robotics Laboratory
- Lund Research Programme in Autonomous Robotics, 1998-2001
ISBN/ISSN/Övrigt
- ISSN: 2405-8963