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.


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    Title :

    Adaptive sliding mode dynamic positioning control for a semi-submersible offshore platform


    Contributors:

    Publication date :

    2019-08-15


    Remarks:

    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)


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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