Model experiments on dynamic positioning system using gain scheduled controller

Masahiko Nakamura, Hiroyuki Kajiwara, Wataru Koterayama, Tadahiro Hyakudome, Masanori Mochizuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The paper is concerned with a dynamic position control for a semi-submersible platform model using a gain scheduled H controlled. Offshore platforms are required to control a given position against external forces of ocean current, wind, and waves. A dynamic positioning system using thrusters is generally employed for this, but it is impossible for thrusters to resist wave frequency motion because the linear exciting force is very strong. The specifications of the proposed controller are that it maintain a given position and to change its position without offset using thrusters that do not respond to this force in the wave frequency range. Based on a rotation matrix in yaw, a linear model with four vertices was introduced. The problem was formulated in a framework of multi-model based design of H control law with pole region constraint. LMI (linear matrix inequality) based methodology was used to solve the problem. The gain scheduled H controller was implemented by interpolation of the four vertex controllers. Model experiments were carried out and some successful results are shown.

Original languageEnglish
Title of host publicationProceedings of the International Offshore and Polar Engineering Conference
PublisherISOPE
Pages233-240
Number of pages8
Volume1
Publication statusPublished - 2000
EventProceeedings of the 10th International Offshore and Polar Engineering Conference - Seattle, WA, USA
Duration: May 28 2000Jun 2 2000

Other

OtherProceeedings of the 10th International Offshore and Polar Engineering Conference
CitySeattle, WA, USA
Period5/28/006/2/00

Fingerprint

Dynamic positioning
Controllers
Experiments
Semisubmersibles
Ocean currents
Position control
Linear matrix inequalities
Poles
Interpolation
Specifications

All Science Journal Classification (ASJC) codes

  • Ocean Engineering

Cite this

Nakamura, M., Kajiwara, H., Koterayama, W., Hyakudome, T., & Mochizuki, M. (2000). Model experiments on dynamic positioning system using gain scheduled controller. In Proceedings of the International Offshore and Polar Engineering Conference (Vol. 1, pp. 233-240). ISOPE.

Model experiments on dynamic positioning system using gain scheduled controller. / Nakamura, Masahiko; Kajiwara, Hiroyuki; Koterayama, Wataru; Hyakudome, Tadahiro; Mochizuki, Masanori.

Proceedings of the International Offshore and Polar Engineering Conference. Vol. 1 ISOPE, 2000. p. 233-240.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakamura, M, Kajiwara, H, Koterayama, W, Hyakudome, T & Mochizuki, M 2000, Model experiments on dynamic positioning system using gain scheduled controller. in Proceedings of the International Offshore and Polar Engineering Conference. vol. 1, ISOPE, pp. 233-240, Proceeedings of the 10th International Offshore and Polar Engineering Conference, Seattle, WA, USA, 5/28/00.
Nakamura M, Kajiwara H, Koterayama W, Hyakudome T, Mochizuki M. Model experiments on dynamic positioning system using gain scheduled controller. In Proceedings of the International Offshore and Polar Engineering Conference. Vol. 1. ISOPE. 2000. p. 233-240
Nakamura, Masahiko ; Kajiwara, Hiroyuki ; Koterayama, Wataru ; Hyakudome, Tadahiro ; Mochizuki, Masanori. / Model experiments on dynamic positioning system using gain scheduled controller. Proceedings of the International Offshore and Polar Engineering Conference. Vol. 1 ISOPE, 2000. pp. 233-240
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