Danish Maritime Institute: Dynamic Positioning System

Abstract

In this report, we consider the holding problem for a ship with a given arrangement of thrusters, i.e., how to ensure that a shop, floating on the surface of the ocean, stays very nearly at rest with respect to the sea bed. We show that the holding problem for a given configuration can be solved in a time that increases at most linearly with the number of thrusters, which is an improvement on previous methods that grow exponentially.