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