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)
Distance) data analysis for terrain classification. Results of a real scenario show the appropriateness of the approach that does not require any artificial landmark (e.g., helipad) and is robust to occlusions, light variations and high vibrations.