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This paper presents a Discrete-Time Variable-Structure Control (DTVSC) for the dynamic positioning system of a marine supply vessel. The DTVSC guarantees robustness with respect to disturbances and parametric variations. Two wave-filtering approaches are employed: the Extended Kalman filter (EKF) and the multi-rate Kalman filter (MREKF). The proposed(More)
This paper presents a discrete-time variable-structure control (DTVSC) for the dynamic positioning system of a marine vessel. The DTVSC guarantees robustness with respect to environmental disturbances. Moreover, the allocation problem, in the case of vessels with azimuth thrusters, represents a challenging problem since a non-convex nonlinear problem must(More)
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