A novel adaptive filtering technique is described for a class of systems with unknown disturbances. The estimator includes both a self-tuning filter and a Kalman filter. The state estimates are employed in a closed-loop feedback control scheme which is designed via the usual linear quadratic approach. The approach was developed for application to the dynamic ship positioning control problem and has the advantage that existing nonadaptive Kalman filtering systems may be easily modified to include the self-tuning feature.


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    Title :

    Dynamic ship positioning using a self-tuning Kalman filter


    Additional title:

    Dynamische Lageregelung fuer ein Schiff unter Verwendung eines adaptiven Kalman-Filters


    Contributors:
    Fung, P.T. (author) / Grimble, M.J. (author)

    Published in:

    Publication date :

    1983


    Size :

    12 Seiten, 14 Bilder, 24 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English