Wave disturbance filtering in dynamic positioning systems
Three different approaches to wave disturbance filtering in dynamic positioning systems are studied in this paper. It is shown that a conventional design based on notch filters leads to approximately the same achievable performance of the total control system as can be achieved with an observer based design. It is also shown that a proposed passivity based design leads to a conventional filter with PD-controller. However, there is a relation between the parameters in the filter and the PD-controller, which ensures the passivity properties of the control system.
filtering marine systems ship control navigation state estimation