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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)
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.
term metabolic control and diabetic retinopathy in type I diabetes: ten-year follow-up.