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Dynamic positioning of a turret moored FPSO using sliding mode control
Author(s) -
Tannuri E. A.,
Donha D. C.,
Pesce C. P.
Publication year - 2001
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.604
Subject(s) - turret , control theory (sociology) , robustness (evolution) , sliding mode control , engineering , robust control , dynamic positioning , linearization , control engineering , controller (irrigation) , computer science , control system , nonlinear system , marine engineering , control (management) , mechanical engineering , agronomy , biochemistry , chemistry , physics , electrical engineering , quantum mechanics , artificial intelligence , biology , gene
Abstract This paper presents the application of a sliding mode control technique to the dynamic positioning of a turret moored FPSO. The proposed controller is robust with respect to modelling errors and variations in the intensity and direction of environmental forces. Since the system is strongly non‐linear, the sliding mode methodology is appropriate because it does not require linearization and uses the complete model for the controller design. Furthermore, the design of the controller term that guarantees robustness is very simple, and can be generalized to any adopted model of dynamic and environmental forces. The main drawback of the sliding controller, related to the high oscillatory control action, is avoided by the definition of a “boundary layer” near the sliding surface. The controller was tested through numerical simulations of a moored VLCC under several environmental conditions, confirming the stability and performance robustness. Copyright © 2001 John Wiley & Sons, Ltd.