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Observer-based robust control for dynamic positioning of large-scale heavy lift vessels. / Ye, J.; Roy, Spandan; Godjevac, M.; Baldi, Simone.

In: IFAC-PapersOnLine, Vol. 52, No. 3, 2019, p. 138-143.

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Ye, J. ; Roy, Spandan ; Godjevac, M. ; Baldi, Simone. / Observer-based robust control for dynamic positioning of large-scale heavy lift vessels. In: IFAC-PapersOnLine. 2019 ; Vol. 52, No. 3. pp. 138-143.

BibTeX

@article{8c109d8473674828bc3368af5d8fb90a,
title = "Observer-based robust control for dynamic positioning of large-scale heavy lift vessels",
abstract = "With the growing demand of large-scale heavy lift vessels in the deep-sea offshore construction works, high performance of Dynamic positioning (DP) systems is becoming ever crucial. However, current DP systems on board of heavy lift vessels do not consider model uncertainty (typically arising from mooring forces). In this paper, an observer-based robust controller is designed that can tackle model uncertainty in hydrodynamic damping and mooring forces, environmental disturbances as well as can filter out the high-frequency vessel movement. Closed-loop system stability is analytically established in terms of uniformly ultimately boundedness. In addition, several key performance indicators are provided for tuning the performance of the controller. The effectiveness of the proposed control framework is studied in simulation with a crane-vessel system.",
keywords = "Dynamic positioning, heavy lift vessel, observer, robust control, large-scale systems",
author = "J. Ye and Spandan Roy and M. Godjevac and Simone Baldi",
year = "2019",
doi = "10.1016/j.ifacol.2019.06.024",
language = "English",
volume = "52",
pages = "138--143",
journal = "IFAC-PapersOnLine",
issn = "1474-6670",
publisher = "Elsevier",
number = "3",
note = "LSS 2019: 15th IFAC Symposium on Large Scale Complex Systems ; Conference date: 26-05-2019 Through 28-05-2019",

}

RIS

TY - JOUR

T1 - Observer-based robust control for dynamic positioning of large-scale heavy lift vessels

AU - Ye, J.

AU - Roy, Spandan

AU - Godjevac, M.

AU - Baldi, Simone

PY - 2019

Y1 - 2019

N2 - With the growing demand of large-scale heavy lift vessels in the deep-sea offshore construction works, high performance of Dynamic positioning (DP) systems is becoming ever crucial. However, current DP systems on board of heavy lift vessels do not consider model uncertainty (typically arising from mooring forces). In this paper, an observer-based robust controller is designed that can tackle model uncertainty in hydrodynamic damping and mooring forces, environmental disturbances as well as can filter out the high-frequency vessel movement. Closed-loop system stability is analytically established in terms of uniformly ultimately boundedness. In addition, several key performance indicators are provided for tuning the performance of the controller. The effectiveness of the proposed control framework is studied in simulation with a crane-vessel system.

AB - With the growing demand of large-scale heavy lift vessels in the deep-sea offshore construction works, high performance of Dynamic positioning (DP) systems is becoming ever crucial. However, current DP systems on board of heavy lift vessels do not consider model uncertainty (typically arising from mooring forces). In this paper, an observer-based robust controller is designed that can tackle model uncertainty in hydrodynamic damping and mooring forces, environmental disturbances as well as can filter out the high-frequency vessel movement. Closed-loop system stability is analytically established in terms of uniformly ultimately boundedness. In addition, several key performance indicators are provided for tuning the performance of the controller. The effectiveness of the proposed control framework is studied in simulation with a crane-vessel system.

KW - Dynamic positioning

KW - heavy lift vessel

KW - observer

KW - robust control

KW - large-scale systems

UR - http://www.scopus.com/inward/record.url?scp=85073692299&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2019.06.024

DO - 10.1016/j.ifacol.2019.06.024

M3 - Conference article

VL - 52

SP - 138

EP - 143

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 1474-6670

IS - 3

T2 - LSS 2019: 15th IFAC Symposium on Large Scale Complex Systems

Y2 - 26 May 2019 through 28 May 2019

ER -

ID: 67380931