ABSTRACT
A design of a dynamic positioning system for the U.S. Coast Guard WLB "IRIS" class buoy tender is presented. The control system design is based upon optimal control theory with estimates of position and heading provided by a steady state Kalman filter. Sea current estimates are provided by a Kalman filter predictor based upon the innovations process. The vessel and dynamic positioning system are simulated using a linearised version and a more complete non-linear model. The linear system was the basis of the optimal control and filter design. For large distances from the buoy, a proportional navigational type guidance or control should be used. In close proximity, the following design may prove useful.
