Gain scheduling model predictive control for dynamic positioning of floating caissons at different draughts - Sainz, Jose Joaquin; Herrero, Elias Revestido; Llata, Jose Ramon; Velasco, Francisco J; Gonzalez-Sarabia, Esther; Rodriguez-Luis, Alvaro; Fernandez-Ruano, Sergio; Guanche, Raul (International Journal Of Adaptive Control And Signal Processing, 2023)