The paper deals with a novel fuzzy feedback linearization control of dynamic positioning marine vehicle with the almost disturbance decoupling performance. The main contribution of this study is to construct a controller such that the resulting dynamic positioning marine vehicle is valid for any initial and desired positions with the following characteristics: input-to-state stability with resp...

This dissertation contains new results on the design of dynamic positioning (DP) systems for marine surface vessels. A positioned ship is continuously exposed to environmental disturbances, and the objective of the DP system is to maintain the desired position and heading by applying adequate propeller thrust. The disturbances can be categorized into three classes. First, there are stationary f...

Recent developments in optimal observer design for dynamic positioning have led to application of contraction analysis. In this paper a theoretical method for nonlinear optimal observer design and a suboptimal observer using a state-dependent Riccati equation approach are presented. The observer will be compared to an existing observer and its properties and performance is discussed. Early obse...

This thesis gives a short introduction to the Dynamic Positioning (DP) domain and focuses on developing a fuel optimal thrust allocation algorithm for marine DP vessels with a diesel electric power plant. Obtained data is used to develop a static model for the fuel consumption of a diesel generator, as a function of its produced power. This model is used to formulate a convex Quadratic Programm...

In order to optimize the dynamic model, careful consideration must be undertaken of the dynamics likely to be experienced by the system, while accounting for the measurement rate. The main problems faced by a dynamic model in a Kalman filter occur when the system experiences unexpected dynamic conditions, a change in data acquisition rate, or when in fact the dynamics of the system are non-line...

Markus Ulmschneider studied communications and computer engineering at the University of Ulm, Germany, from where he received his Bachelor’s degree in 2011 and his Master’s degree in 2014. In 2014, he joined the Institute of Communications and Navigation of the German Aerospace Center (DLR), Germany, where he is part of the scientific staff of the Mobile Radio Transmission group. His main resea...