Comments on "Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping"

@article{Robertsson1998CommentsO,
  title={Comments on "Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping"},
  author={A. Robertsson and Rolf Johansson},
  journal={IEEE Trans. Control. Syst. Technol.},
  year={1998},
  volume={6},
  pages={439-441}
}
  • A. Robertsson, Rolf Johansson
  • Published 1998
  • Mathematics, Computer Science
  • IEEE Trans. Control. Syst. Technol.
  • In the original paper, Fossen and Grovlen (ibid., vol.6, p.121-8, 1998) proposed the use of an observer-based backstepping method for the dynamic positioning of ships. This note points out that the observer design used does not cover unstable ship dynamics and suggests a remedy for an extended class of ships. The proof for the nonlinear observer used in the design in the above-mentioned papers only applies to ships with stable sway-yaw dynamics. An example concerning thruster assisted mooring… CONTINUE READING
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