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Dynamic positioning of floating caissons based on the UKF filter under external perturbances induced by waves

Abstract: This paper presents a dynamic positioning control scheme for concrete caissons in an attempt to automate part of the manoeuvres which usually require a complex deploy of personnel and equipment for port infrastructures development. The aim of this paper is to propose a control scheme, which is able to provide a reduction in costs and an improvement in security for the dynamic positioning manoeuvres . To do so, a dual loop controller is developed and the unscented Kalman filter is applied for states and perturbances estimation. Furthermore, a control allocation algorithm is proposed based on anchoring lines and winches. Finally, some simulations are performed to verify the effectiveness of the proposed approach.

 Autoría: Herrero E.R., Llata J.R., Gonzalez-Sarabia E., Velasco F.J., Sainz J.J., Rodriguez-Luis A., Fernandez-Ruano S., Guanche R.,

 Fuente: Ocean Engineering, 2021, 235, 109055

 Editorial: Elsevier BV

 Fecha de publicación: 01/09/2021

 Nº de páginas: 11

 Tipo de publicación: Artículo de Revista

 DOI: 10.1016/j.oceaneng.2021.109055

 ISSN: 0029-8018,1873-5258

 Proyecto español: RTC-2017-6603-4

 Url de la publicación: https://doi.org/10.1016/j.oceaneng.2021.109055