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Research Papers: Offshore Technology

System Identification of Nonlinear Vessel Steering

[+] Author and Article Information
Lokukaluge P. Perera

Centre for Marine Technology
and Engineering (CENTEC),
Instituto Superior Técnico,
Universidade de Lisboa,
Av. Rovisco Pais,
Lisboa 1049-001, Portugal
Norwegian Marine Technology Research Institute (MARINTEK),
Trondheim NO-7450, Norway

P. Oliveira

IDMEC,
Instituto Superior Técnico,
Universidade de Lisboa,
Av. Rovisco Pais,
Lisboa 1049-001, Portugal

C. Guedes Soares

Centre for Marine Technology
and Engineering (CENTEC),
Instituto Superior Técnico,
Universidade de Lisboa,
Av. Rovisco Pais,
Lisboa 1049-001, Portugal
e-mail: c.guedes.soares@centec.tecnico.ulisboa.pt

1Corresponding author.

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received June 5, 2012; final manuscript received February 12, 2015; published online March 11, 2015. Editor: Solomon Yim.

J. Offshore Mech. Arct. Eng 137(3), 031302 (Jun 01, 2015) (7 pages) Paper No: OMAE-12-1058; doi: 10.1115/1.4029826 History: Received June 05, 2012; Revised February 12, 2015; Online March 11, 2015

In this paper, the stochastic parameters describing a nonlinear ocean vessel steering model are identified, resorting to an extended Kalman filter (EKF). The proposed method is applied to a second-order modified Nomoto model for vessel steering and that is derived from first physics principles. Furthermore, the results obtained resorting to a realistic numerical simulator of nonlinear vessel steering are also illustrated in this study.

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Copyright © 2015 by ASME
Topics: Vessels , Oceans , Algorithms
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References

Figures

Grahic Jump Location
Fig. 1

Reference systems for the mathematical model of vessel maneuvering

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Fig. 2

Actual, measured, and estimated vessel states

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Fig. 3

Actual and estimated vessel parameters

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