Multi-purpose Control Law for Marine Dynamic Positioning System under the Influence of Sea Waves
Abstract
The paper is devoted to the problem of multi-purpose control law synthesis for marine vessels, which are controlled by a dynamic positioning system under sea wave disturbance. The proposed approach is based on a special control law structure constructed using nonlinear asymptotic observers, that allows decoupling of synthesis into simpler particular optimisation problems. The designed dynamic of a closed-loop system provides an economical mode of vessel motion by reducing general fuel consumption and preventing the wearing down of actuators. The actual value of the external disturbance main frequency is estimated online and used for dynamical corrector tuning. Applicability and efficacy of this approach are illustrated by the practical example of DP system synthesis.
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