Nonlinear dynamic positioning of ships with gain-scheduled wave filtering

Guttorm Torsetnes, Jerome Jouffroy, Thor I. Fossen

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review


This paper presents a globally contracting controller for regulation and dynamic positioning of ships, using only position measurements. For this purpose a globally contracting observer which reconstructs the unmeasured states is constructed. The observer produces accurate estimates of position, slowly varying environmental disturbances (bias terms) and velocity. The estimates are automatically adjusted to the present sea state by gain-scheduling the wave model parameters in the observer. Finally, the estimates are used in a nonlinear PID control law and the stability proof of the observer-controller is based on a separation principle for contracting systems in cascade.

Original languageEnglish
Publication date2004
Publication statusPublished - 2004
EventConference on Decision and Control (CDC'04) - Atlantis, Paradise Island, Bahamas
Duration: 24. Aug 2010 → …


ConferenceConference on Decision and Control (CDC'04)
CityAtlantis, Paradise Island
Period24/08/2010 → …


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