@article{GENERAL,
      recid = {7754},
      author = {Martelli, M and Faggioni, N and Donnarumma, S},
      title = {A novel model based-design approach for a dynamic  positioning system},
      journal = {Conference Proceedings of iSCSS},
      address = {2020-10-05},
      number = {GENERAL},
      abstract = {This paper aims to present a novel approach to design a  dynamic positioning system by using a dynamic model  based-design approach. The proposed study has been  performed to both develop and preliminarily test the  control logic that should be implemented on a model scale  vessel. Indeed, the proposed tool has been designed for a  fully actuated tug vessel equipped with two azimuthal  thrusters and one bow-thruster, emulated in behaviour with  a dynamic simulator. Thanks to the model actuation, it was  possible to design a unique, optimised allocation logic  able to fulfil both open-loop and closed-loop commands,  sufficiently proved and tuned before the installation  onboard. Moreover, a thorough comparison between different  design methods, static and dynamic performance evaluation  has been carried out. Two different operational modes are  tested, and the results are presented: joystick and station  keeping.},
      url = {http://library.imarest.org/record/7754},
}