<abstract xmlns="http://www.w3.org/1999/xhtml"><p><italic>This paper presents the designs of two observers, which are: the extended Kalman filter</italic><italic>and the nonlinear passive observer. Based on the measured values of ship position and</italic><italic>heading, the observers estimate the surge, sway and yaw velocities of the ship motion.</italic><italic>The observers make use of the simplified nonlinear mathematical model of ship motion in</italic><italic>which the neglected ship dynamics and disturbances are modelled using bias. The designed</italic><italic>observers firstly have been simulated on a computer model where their parameters were</italic><italic>calibrated, and then were implemented on the physical model of the training ship “Blue</italic><italic>Lady” in the ship handling centre in Ilawa-Kamionka. The comparative analysis was</italic><italic>done with respect to the estimated variables describing the ship motion in three directions: surge, sway</italic><italic>and yaw</italic></p></abstract>

This paper presents the designs of two observers, which are: the extended Kalman filterand the nonlinear passive observer. Based on the measured values of ship position andheading, the observers estimate the surge, sway and yaw velocities of the ship motion.The observers make use of the simplified nonlinear mathematical model of ship motion inwhich the neglected ship dynamics and disturbances are modelled using bias. The designedobservers firstly have been simulated on a computer model where their parameters werecalibrated, and then were implemented on the physical model of the training ship “BlueLady” in the ship handling centre in Ilawa-Kamionka. The comparative analysis wasdone with respect to the estimated variables describing the ship motion in three directions: surge, swayand yaw

Nonlinear observers design for multivariable ship motion control

Polish Maritime Research

{"article-title":"Nonlinear observers design for multivariable ship motion control"}

This paper presents the designs of two observers, which are: the extended Kalman filterand the nonlinear passive observer. Based on the measured values of ship...

Nonlinear observers design for multivariable ship motion control

Publié en ligne: 31 oct. 2012

Pages: 50 - 56

DOI: https://doi.org/10.2478/v10012-012-0023-5

Mots clés
extended Kalman filter, nonlinear observers, ship control, dynamic positioning.

This content is open access.

Nonlinear observers design for multivariable ship motion control

Publié en ligne: 31 oct. 2012

Pages: 50 - 56

DOI: https://doi.org/10.2478/v10012-012-0023-5

Mots clésextended Kalman filter, nonlinear observers, ship control, dynamic positioning.

This content is open access.

Mots clés
extended Kalman filter, nonlinear observers, ship control, dynamic positioning.