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This dissertation contains new results on the design of dynamic positioning (DP) systems for marine surface vessels. A positioned ship is continuously exposed to environmental disturbances, and the objective of the DP system is to maintain the desired position and heading by applying adequate propeller thrust. The disturbances can be categorized into three… (More)
current trend in many industries is the introduction of more sophisticated optimization and control algorithms for enhancing production, regularity, and the operation of the plant. Some industries, like the automotive, have successfully used rapid prototyping tools like The Mathwork's Real-Time Workshop® in order to make development, testing, and… (More)
We propose a scalable state estimator with wave filter for surface vessels. The filter is shown to be either globally or locally exponentially stable depending on configuration. Performance is illustrated using actual data from a full scale semi-submersible drilling rig.