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Authors
Benjamin Golding; Andrew Ross; Thor I. Fossen

Identifier
10.3182/20060329-3-AU-2901.00048

Index Terms
modelling,system identification,marine systems

Abstract
This paper presents a method for online estimation of nonlinear viscous damping forces in the horizontal plane for a surface vessel at low speed. The method is based on parameter estimation in combination with qualitative knowledge about longitudinally distributed drag coefficients, derived from experimental data. Case studies indicate that the method provides accurate estimates under realistic conditions.

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