This paper investigates the finite-time extended state observer-based Dynamic Positioning (DP) control of turret-moored vessels with unavailable velocities and uncertainties. The control objective is to assist the mooring system of vessel in achieving area keeping and heading control. Firstly, unavailable velocities and uncertainties are estimated simultaneously by the designed finite-time Extended State Observer (ESO), where finite-time convergence and high accuracy of estimated values are guaranteed. Then, a reliability index is introduced to quantify the breakage probability of mooring lines. Based on estimated values and reliability index, a finite-time DP controller is proposed for area keeping and heading control of turret-moored vessels. The proposed controller can improve utilization efficiency of mooring system and guarantee finite-time convergence of all signals in closed-loop control system. Meanwhile, a saturation function is integrated into the controller to decrease the thrusters’ energy consumption. Finally, simulations and comparisons demonstrate the performance of finite-time ESO and DP controller.


    Access

    Download


    Export, share and cite



    Title :

    Finite-time extended state observer-based area keeping and heading control for turret-moored vessels with uncertainties and unavailable velocities


    Contributors:
    Yulong Tuo (author) / Shasha Wang (author) / Chen Guo (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Heading Control of a Turret-Moored FPSO With and Without Forward Thrusters

    Kaasen, K. E. / Ludvigsen, H. / Aas, K. | British Library Conference Proceedings | 2017



    Effect of viscous damping on the heading stability of turret-moored tankers

    Zangeneh, Razieh / Thiagarajan, Krish P. / Urbina, Raul et al. | Taylor & Francis Verlag | 2017