Model Structures and Identification for Fully Embedded Thrusters: 360-Degrees-Steerable Steering-Grid and Four-Channel Thrusters

The European Watertruck + project introduced a new fleet of self-propelled inland cargo barges to the European waters, in order to induce more sustainable freight transport in the European hinterland. An augmentation of the automation level of this fleet could further advance their competitiveness and potentially pave the way for unmanned inland cargo vessels. The motion control of such a vessel forms a key component in this envisaged automation...