A nonlinear estimate filter designed for ship dynamic positioning

Author

Fu, Mingyu ; Fuguang Ding ; Meng Li ; Pengfei Yi

Author_Institution

Autom. Coll., Harbin Eng. Univ., Harbin, China

fYear

2010

fDate

9-11 June 2010

Firstpage

914

Lastpage

919

Abstract

A nonlinear estimate filter was designed for a dynamic positioning system. The global exponential stability of estimate filter was proven using Lyapunov methods. The main advantage of the nonlinear design to Kalman filter is that the kinematics equations of motion need not be linearized. The proposed estimate filter includes an estimation of both the low-frequency position and velocity of the ship from noisy position measurements, environmental disturbance and wave filtering. The simulation results show the excellent performance of the nonlinear estimate filter.

Keywords

Lyapunov methods; asymptotic stability; marine control; nonlinear estimation; nonlinear filters; position control; position measurement; ships; Kalman filter; Lyapunov method; dynamic positioning system; environmental disturbance; exponential stability; kinematics equation; low-frequency position; noisy position measurement; nonlinear estimate filter; ship; wave filtering; Filters; Kinematics; Low-frequency noise; Lyapunov method; Marine vehicles; Nonlinear dynamical systems; Nonlinear equations; Position measurement; Stability; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (ICCA), 2010 8th IEEE International Conference on

Conference_Location

Xiamen

ISSN

1948-3449

Print_ISBN

978-1-4244-5195-1

Electronic_ISBN

1948-3449

Type

conf

DOI

10.1109/ICCA.2010.5524459

Filename

5524459