Paper Info
Title
Adaptive Sliding Mode Dynamic Positioning Control For A Semi-Submersible Offshore Platform
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.
Year
DOI
Venue
2019
10.23919/ECC.2019.8796093
2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)
Field
DocType
Citations 
Lyapunov function,Dynamic positioning,First order,Differentiator,Control theory,Computer science,Acceleration,Submarine pipeline,Sliding mode control,Actuator
Conference
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Dongya Zhao111816.58
Shouli Gao200.34
sarah k spurgeon372471.21
Markus Reichhartinger400.34