Zhao, D;
Liang, H;
Spurgeon, SK;
(2019)
Robust adaptive terminal sliding mode control for dynamic positioning of a semi-submersible offshore platform.
Transactions of the Institute of Measurement and Control
, 41
(5)
pp. 1361-1372.
10.1177/0142331218778108.
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Abstract
In this paper, a robust adaptive terminal sliding mode controller is proposed for dynamic positioning of a semi-submersible offshore platform. First, a state feedback controller is designed to stabilize the nominal system. Then a robust adaptive terminal sliding mode compensator is developed to eliminate the effects of uncertain dynamics and disturbances. It is shown, using Lyapunov methods, that the tracking error is driven to zero in finite time using the proposed control. The efficacy of the control algorithm is validated using simulation studies; it is shown that recent developments in the domain of robust exact differentiation are very helpful for controller implementation.
| Type: | Article |
|---|---|
| Title: | Robust adaptive terminal sliding mode control for dynamic positioning of a semi-submersible offshore platform |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1177/0142331218778108 |
| Publisher version: | https://doi.org/10.1177%2F0142331218778108 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Sliding mode control; dynamic positioning system; semi-submersible offshore platform, state estimation, marine systems |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10054329 |
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