Dept of Engineering Cybernetics in Trondheim, Norway
In this talk we address the modelling of marine vessels for dynamic positioning. Recently, there has been an increased focus on obtaining mathematical models for marine surface vessels using hydrodynamical software. In this approach, parts of the vessel model are of high order, and model reduction is needed to make the model efficient for control synthesis and marine simulation. The dynamics of the vessel are passive, and it is of interest to maintain this property in the reduction process. Different model reduction schemes, based on balanced truncation, will be compared using a numerical example, and a novel passivity preserving method is shown.