Nonlinear passive observer design for ships with adaptive wave filtering

In this paper we have derived a nonlinear passive observer for moored and free-floating ships. By adding low- and high-pass filtered innovation signals in the design, we have additional flexibility in the design. This augmented design is extended to a new observer with adaptive wave filtering. Experiments with a model ship shows that the adaptive observer will significantly improve the performance of the ship positioning system. This results in reduced magnitude of the observer innovation, better filtering properties and reduced control action by the propulsion system.

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