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In this paper, a mathematical model for a floating production storage and offloading (FPSO) vessel is introduced at first. Considering the unknown system parameters and environmental disturbances, we proposed a reliability-based robust online constructive fuzzy controller. An online constructive scheme is constructed to ensure the fuzzy system's fuzzy rules adequate and parsimonious without any prior knowledge about the number of fuzzy rules and the structure of fuzzy system. In addition, the reliability-based matrix is applied to design a new adaptive fuzzy parameter update law which can not only approximate the unknown term containing the non-square reliability-based matrix but also make it possible to analyze the closed-loop system's stability, which is quite difficult to be analyzed because the reliability-based matrix is non-square. Our proposed online constructive fuzzy controller can not only maintain the FPSO vessel at the desired reliability and heading but also ensure all signals in the closed-loop control system are bounded. Simulations and comparisons with a reliability-based structure-fixed fuzzy controller show our proposed reliability-based online constructive fuzzy controller can achieve the positioning control by using the fuzzy approximator with adequate and parsimonious fuzzy rules.

Reliability-Based Robust Online Constructive Fuzzy Positioning Control of a Turret-Moored Floating Production Storage and Offloading Vessel