Dynamic positioning and control of vessels

Abstract

Dynamic positioning systems are an important tool for offshore vessels, particularly rigs and cable or pipe laying ships. Jens Glad Balchen was an important figure in early cybernetics, and he released a paper in 1980 covering mathematical models for simulating the vessel behavior, as well as filter and control algorithms for controlling it. This paper seeks to re implement Balchens theory in MATLAB and simulate and analyze the results. In addition to this, the original model has also been simplified to a linear model.