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In this paper, a robust UKF algorithm based on least-square is proposed for the semi-submersible ship dynamic positioning speed sensorless control system, which lacks the ability to adapt itself to system state anomalies. The algorithm uses the least-square method to compute the suboptimal fading factor, it adjusts the filter estimation gain adaptively, and it realizes the strong tracking to the real...
This paper presents an approach to design an adaptive fuzzy logic control algorithm for dynamic positioning systems, and the adaptive laws of the control system were proved based on lyapunov function. In this algorithm, it doesn't require to accurate mathematical model. Simulation results at position or trajectory tracking show the effectiveness of the control system.
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