Jp. Strand et al., DESIGN OF AUTOMATIC THRUSTER ASSISTED POSITION MOORING SYSTEMS FOR SHIPS, Modeling, identification and control, 19(2), 1998, pp. 61-75
This paper addresses the mathematical modelling and controller design
of an automatic thruster assisted position mooring system. Such contro
l systems are applied to anchored floating production offloading and s
torage vessels and semi-subs. The controller is designed using model b
ased control with a LQG feedback controller in conjunction with a Kalm
an filter. The controller design is in addition to the environmental l
oads accounting for the mooring forces acting on the vessel. This is r
eflected in the model structure and in the inclusion of new functional
ity.