Title :
A model based wave filter for surface vessels using position, velocity and partial acceleration feedback
Author :
Lindegaard, Karl-Petter ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
Abstract :
We propose a scalable state estimator with wave filter for surface vessels. The filter is shown to be either globally or locally exponentially stable depending on configuration. Performance is illustrated using actual data from a full scale semi-submersible drilling rig
Keywords :
acceleration measurement; asymptotic stability; feedback; filtering theory; marine systems; navigation; position measurement; state estimation; velocity measurement; full scale semi-submersible drilling rig; global exponential stability; local exponential stability; model based wave filter; partial acceleration feedback; position feedback; scalable state estimator; surface vessels; velocity feedback; Acceleration; Cybernetics; Drilling; Feeds; Filters; Frequency estimation; Kinematics; Stability; State estimation; Surface waves;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980231
