Browsing NTNU Open by Author "Pascoal, Antonio"
Now showing items 1-5 of 5
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A novel methodology for robust dynamic positioning of marine vessels: theory and experiments
Hassani, Vahid; Sørensen, Asgeir Johan; Pascoal, Antonio (Journal article, 2013)The paper describes a novel robust adaptive controller for Dynamic Positioning (DP) of marine vessels. The proposed Robust Multiple Model Adaptive Dynamic Positioning (RMMADP) structure consists of a bank of robust controllers ... -
Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels Using Maximum Likelihood Identification: Theory and Experiments
Hassani, Vahid; Sørensen, Asgeir Johan; Pascoal, Antonio (Chapter, 2016)This paper addresses a filtering problem that arises in the design of dynamic positioning systems for ships and offshore rigs subjected to the influence of sea waves. The dynamic model of the vessel captures explicitly the ... -
Cyber Security Issues in Navigation Systems of Marine Vessels From Control Perspective
Hassani, Vahid; Crasta, Naveena; Pascoal, Antonio (Chapter, 2017)Autonomous marine vessels are the way forward to revolutionize maritime operations. However, the safety and success of autonomous missions depend critically on the availability of a reliable positioning system and time ... -
Development and experimental evaluation of visual-acoustic navigation for safe maneuvering of unmanned surface vehicles in harbor and waterway areas
Volden, Øystein; Cabecinhas, David; Pascoal, Antonio; Fossen, Thor I. (Peer reviewed; Journal article, 2023)Ship maneuvering in narrow harbor environments requires accurate navigation data to operate safely. Since Global Navigation Satellite Systems (GNSS) can be unreliable and inaccurate in such environments, other aiding ... -
Formation Control of Underactuated Marine Vehicles with Communication Constraints
Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos (Journal article, 2006)In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control ...