In this paper, an adaptive sliding mode dynamic positioning control approach is proposed for a semi-submersible offshore platform. The actuator dynamics are slow and thus a first order sliding mode control approach is used to maximise tracking accuracy in the presence of typically unmodelled actuator dynamics. The sliding mode control is designed with an adaptive feedback gain to counter the effects of model uncertainty and external disturbances such as the waves. The control implementation uses a sliding mode differentiator for online estimation of velocity and acceleration. The stability of the system is analyzed using Lyapunov methods. The control algorithm is validated using illustrative examples.
Adaptive sliding mode dynamic positioning control for a semi-submersible offshore platform
15.08.2019
In: Garofalo, F and Glielmo, L, (eds.) Proceedings of the 18th European Control Conference (ECC 2019). (pp. pp. 3103-3108). IEEE Xplore: Naples, Italy. (2019)
Paper
Elektronische Ressource
Englisch
actuators , feedback , adaptive sliding mode dynamic positioning control approach , variable structure systems , control implementation , position control , adaptive feedback gain , sliding mode differentiator , unmodelled actuator dynamics , control system synthesis , adaptive control , stability , semisubmersible offshore platform , offshore installations , Lyapunov methods
DDC: | 629 |
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