Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints
In the presence of dynamic uncertainties, external time-varying disturbances, and limited inputs to the multi-point mooring system (MPMS) of a floating offshore platform (FOP), this paper proposes a robust adaptive dynamic surface (RADS) control method incorporating a disturbance observer. A disturb...
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| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/30 |
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| author | Run Lu Guichen Zhang Ru Liu Chaojian Gao Wei Chen Huanglong Fu |
| author_facet | Run Lu Guichen Zhang Ru Liu Chaojian Gao Wei Chen Huanglong Fu |
| author_sort | Run Lu |
| collection | DOAJ |
| description | In the presence of dynamic uncertainties, external time-varying disturbances, and limited inputs to the multi-point mooring system (MPMS) of a floating offshore platform (FOP), this paper proposes a robust adaptive dynamic surface (RADS) control method incorporating a disturbance observer. A disturbance observer is designed to estimate the unknown time-varying disturbance and apply feedforward compensation to the control variable. Simultaneously, the adaptive law of the σ-corrected leakage term is employed to estimate the bound of the disturbance observation error, thereby enhancing positioning accuracy. An auxiliary dynamic system (ADS) is then introduced to address input constraints, while the differential explosion problem associated with the traditional inversion method is resolved through the integration of the dynamic surface control (DSC) algorithm. The Lyapunov function is utilized to demonstrate that the controller ensures the consistent ultimate boundedness of all signals within the closed-loop system. Finally, a simulation experiment was conducted based on the eight-point mooring platform of the “Kantan3”, and the positioning accuracy reached 3%, which is higher than the specification requirements of the classification society. The results indicate that the designed controller achieves higher positioning accuracy and improved anti-interference performance and has been put into practical application on “Kantan3”. |
| format | Article |
| id | doaj-art-0a0e97f7811741119370054bbb93aaab |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-0a0e97f7811741119370054bbb93aaab2025-01-24T13:36:36ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011313010.3390/jmse13010030Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input ConstraintsRun Lu0Guichen Zhang1Ru Liu2Chaojian Gao3Wei Chen4Huanglong Fu5Merchant Marine College, Shanghai Maritime University, Shanghai 201306, ChinaMerchant Marine College, Shanghai Maritime University, Shanghai 201306, ChinaShanghai Marine Equipment Research Institute Co., Ltd., Shanghai 201306, ChinaShanghai Marine Equipment Research Institute Co., Ltd., Shanghai 201306, ChinaShanghai Marine Equipment Research Institute Co., Ltd., Shanghai 201306, ChinaShanghai Marine Equipment Research Institute Co., Ltd., Shanghai 201306, ChinaIn the presence of dynamic uncertainties, external time-varying disturbances, and limited inputs to the multi-point mooring system (MPMS) of a floating offshore platform (FOP), this paper proposes a robust adaptive dynamic surface (RADS) control method incorporating a disturbance observer. A disturbance observer is designed to estimate the unknown time-varying disturbance and apply feedforward compensation to the control variable. Simultaneously, the adaptive law of the σ-corrected leakage term is employed to estimate the bound of the disturbance observation error, thereby enhancing positioning accuracy. An auxiliary dynamic system (ADS) is then introduced to address input constraints, while the differential explosion problem associated with the traditional inversion method is resolved through the integration of the dynamic surface control (DSC) algorithm. The Lyapunov function is utilized to demonstrate that the controller ensures the consistent ultimate boundedness of all signals within the closed-loop system. Finally, a simulation experiment was conducted based on the eight-point mooring platform of the “Kantan3”, and the positioning accuracy reached 3%, which is higher than the specification requirements of the classification society. The results indicate that the designed controller achieves higher positioning accuracy and improved anti-interference performance and has been put into practical application on “Kantan3”.https://www.mdpi.com/2077-1312/13/1/30multi-point mooring system (MPMS)disturbance observermooring positioningdynamic surface control (DSC) |
| spellingShingle | Run Lu Guichen Zhang Ru Liu Chaojian Gao Wei Chen Huanglong Fu Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints Journal of Marine Science and Engineering multi-point mooring system (MPMS) disturbance observer mooring positioning dynamic surface control (DSC) |
| title | Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints |
| title_full | Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints |
| title_fullStr | Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints |
| title_full_unstemmed | Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints |
| title_short | Adaptive Positioning Control of Multi-Point Moorings with Disturbance Observation Under Input Constraints |
| title_sort | adaptive positioning control of multi point moorings with disturbance observation under input constraints |
| topic | multi-point mooring system (MPMS) disturbance observer mooring positioning dynamic surface control (DSC) |
| url | https://www.mdpi.com/2077-1312/13/1/30 |
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