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Wybrane publikacje

  • Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming

    It is generally assumed in dynamic positioning of over-actuated marine vessels that the control effectiveness matrix (input matrix) is known and constant, or, in case of fault information, it is estimated by the fault detection and diagnosis system. The purpose of the study is to develop the adaptive dynamic positioning control system for an over-actuated marine vessel in the presence of uncertainties and with emphasis on limited...

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  • Trajectory planning for Service Ship during emergency STS transfer operation

    - 2017

    In this paper trajectory for approaching during emergency STS transfer operation with oil spill is considered as a sequence of navigation manoeuvres in specific navigational environment. The designed way points - ship positions and speed are determined as reference values to support navigator in decision making during steering and to mitigate the risk of collision which mostly results from exceeding the speed limit of approaching....

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  • Control design for slow speed positioning

    - 2013

    The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the actuators produce generalized forces...

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Uzyskane stopnie/tytuły naukowe

  • 2011-06-28

    Nadanie stopnia naukowego

    dr Automatyka i robotyka (Dziedzina nauk technicznych)
    Politechnika Warszawska, Wydział Elektroniki i Technik Informacyjnych

wyświetlono 229 razy