@article{10902/22739,
year = {2021},
month = {9},
url = {http://hdl.handle.net/10902/22739},
abstract = {This paper presents a dynamic positioning control scheme for concrete caissons in an attempt to automate part of the manoeuvres which usually require a complex deploy of personnel and equipment for port infrastructures development. The aim of this paper is to propose a control scheme, which is able to provide a reduction in costs and an improvement in security for the dynamic positioning manoeuvres . To do so, a dual loop controller is developed and the unscented Kalman filter is applied for states and perturbances estimation. Furthermore, a control allocation algorithm is proposed based on anchoring lines and winches. Finally, some simulations are performed to verify the effectiveness of the proposed approach.},
organization = {The Spanish FEDER/Ministry of Science, Innovation and Universities — State Research Agency (Fig. 14) is greatly acknowledged for funding our research through SAFE Project (Desarrollo de un Sistema Autónomo para el Fondeo de Estructuras para Obras Marítimas), Grant Agreement: RTC-2017-6603-4.
The authors would like to thank FCC CO as a collaborator in the development of the SAFE Project.
R. Guanche also acknowledges financial support from the Ramon y Cajal Program (RYC-2017-23260) of the Spanish Ministry of Science, Innovation and Universities.},
publisher = {Elsevier BV},
publisher = {Ocean Engineering, 2021, 235, 109055},
title = {Dynamic positioning of floating caissons based on the UKF filter under external perturbances induced by waves},
author = {Revestido Herrero, Elías and Llata García, J. R. and González Sarabia, Esther and Velasco González, Francisco Jesús and Sainz Gutiérrez, José Joaquín and Rodríguez Luis, Álvaro and Fernández Ruano, Sergio and Guanche García, Raúl},
}