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dc.contributor.authorHalvorsen, Håkon Skogland
dc.contributor.authorØveraas, Henning
dc.contributor.authorLandstad, Olav
dc.contributor.authorSmines, Vidar
dc.contributor.authorFossen, Thor I.
dc.contributor.authorJohansen, Tor Arne
dc.date.accessioned2021-01-15T12:41:51Z
dc.date.available2021-01-15T12:41:51Z
dc.date.created2020-12-21T11:57:23Z
dc.date.issued2020
dc.identifier.issn0948-4280
dc.identifier.urihttps://hdl.handle.net/11250/2723281
dc.description.abstractConventional dynamic positioning (DP) systems on larger ships compensate primarily for slowly time-varying environmental forces. In doing so, they use wave filtering to prevent the DP from compensating for the first-order wave motions. This reduces wear and tear of the thruster and machinery systems. In the case of smaller autonomous vessels, the oscillatory motion of the vessel in waves may be more significant, and the thrusters can be more dynamic. This motivates the use of DP to compensate for horizontal wave motions in certain operations. We study the design of DP control and filtering algorithms that employ acceleration feedback, roll damping, wave motion prediction, and optimal tuning. Six control strategies are compared in the case study, which is a small autonomous surface vessel where the critical mode of operation is launch and recovery of an ROV through the wave zone.en_US
dc.language.isoengen_US
dc.publisherSpringeren_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleWave motion compensation in dynamic positioning of small autonomous vesselsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.journalJournal of Marine Science and Technologyen_US
dc.identifier.doi10.1007/s00773-020-00765-y
dc.identifier.cristin1862288
dc.relation.projectNorges forskningsråd: 223254en_US
dc.relation.projectNorges forskningsråd: 296262en_US
dc.description.localcodeThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creat iveco mmons .org/licen ses/by/4.0/.en_US
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