Zhao, D;
Gao, S;
Spurgeon, SK;
Reichhartinger, M;
(2019)
Adaptive sliding mode dynamic positioning control for a semi-submersible offshore platform.
In: Garofalo, F and Glielmo, L, (eds.)
Proceedings of the 18th European Control Conference (ECC 2019).
(pp. pp. 3103-3108).
IEEE Xplore: Naples, Italy.
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Abstract
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.
| Type: | Proceedings paper |
|---|---|
| Title: | Adaptive sliding mode dynamic positioning control for a semi-submersible offshore platform |
| Event: | 18th European Control Conference (ECC 2019), 25-28 June 2019, Naples, Italy |
| ISBN-13: | 9783907144008 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.23919/ECC.2019.8796093 |
| Publisher version: | https://doi.org/10.23919/ECC.2019.8796093 |
| 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: | actuators, adaptive control, control system synthesis, feedback, Lyapunov methods, offshore installations, position control, stability, variable structure systems, semisubmersible offshore platform, adaptive sliding mode dynamic positioning control approach, adaptive feedback gain, control implementation, sliding mode differentiator, unmodelled actuator dynamics |
| 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/10082562 |
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