Optimal Filtering Correction forMarine Dynamical Positioning Control System

论文为在动态放工作的海洋的容器(DP ) 集中于控制法律优化的问题政体。这里建议的途径基于根据非线性的 asymptotic 观察员，构造的特殊统一多种用途的控制法律结构的使用那允许合成的去耦进更简单的特别优化问题。为观察员的主要原因是有关容器的无节制的速度恢复缺乏的信息。用除了观察员的很多个分开的项目，完成关上的环连接的理想的动态特征是可能的。最重要的特征是所谓的动态修正者，并且这份报纸因此被奉献给在 DP 系统在海波浪骚乱的行动下面控制的海洋的容器解决它的最佳的合成。这个问题为高频率海波浪部件决定的控制行动的最小的紧张包含需要。为设计动态修正者的一条专业化途径被建议，途径的适用性和有效性用一个实际例子被说明在水下 DP 系统合成。

This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.