Dynamic positioning of floating caissons based on the UKF filter under external perturbances induced by waves

This paper presents a dynamic positioning control scheme for concrete caissons in an attempt to automate part of the manoeuvres which usually require complex deploy personnel and equipment port infrastructures development. The aim this is propose scheme, able provide reduction costs improvement security . To do so, dual loop controller developed unscented Kalman filter applied states perturbances estimation. Furthermore, allocation algorithm proposed based on anchoring lines winches. Finally, some simulations are performed verify effectiveness approach. • application UKF estimation anchored caisson waves. DP caissons. proposition system