Dynamic positioning of floating caissons based on the UKF filter under external perturbances induced by waves
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AuthorRevestido Herrero, Elías; Llata García, J. R.; González Sarabia, Esther; Velasco González, Francisco Jesús; Sainz Gutiérrez, José Joaquín; Rodríguez Luis, Alvaro; Fernández Ruano, Sergio; Guanche García, Raúl
Attribution 4.0 International
Ocean Engineering, 2021, 235, 109055
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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.