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dc.contributor.authorBrodtkorb, Astrid H.
dc.contributor.authorVærnø, Svenn Are Tutturen
dc.contributor.authorTeel, Andrew R.
dc.contributor.authorSørensen, Asgeir Johan
dc.contributor.authorSkjetne, Roger
dc.date.accessioned2017-10-27T06:24:29Z
dc.date.available2017-10-27T06:24:29Z
dc.date.created2016-12-07T12:34:04Z
dc.date.issued2016
dc.identifier.citationIFAC-PapersOnLine. 2016, 49 (18), 345-350.nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2462469
dc.description.abstractDynamic positioning (DP) systems are used on marine vessels for automatic station keeping and tracking operations solely by use of thrusters. Observers are key components of DP systems, and two main types are proposed in this paper. The model-based type is used in steady state conditions since it is especially good at filtering out first order wave induced motions and predicting states in the case of signal loss, and the signal-based type typically has superior performance during transients. In this paper a hybrid observer including a signal-based part and a model-based part with a performance monitoring function is proposed. The observer part that provides the best estimate of the vessel position and heading is used in closed-loop control, thereby allowing for improved transient response while maintaining good steady-state performance. The contributions of this paper include the design of a hybrid signal-based and model-based observer with performance monitoring, stability analysis of the vessel with hybrid estimates in output feedback control, and simulations of a platform supply vessel during a setpoint and heading change.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleHybrid observer for improved transient performance of a marine vessel in dynamic positioningnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber345-350nb_NO
dc.source.volume49nb_NO
dc.source.journalIFAC-PapersOnLinenb_NO
dc.source.issue18nb_NO
dc.identifier.doi10.1016/j.ifacol.2016.10.189
dc.identifier.cristin1409474
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2016. This is the authors’ accepted and refereed manuscript to the article. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/nb_NO
cristin.unitcode194,64,20,0
cristin.unitnameInstitutt for marin teknikk
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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