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Shuai Zheng, Yumin Su, Jiayuan Zhuang, Yueqi Tang and Guangjie Yi
The development of dynamic positioning (DP) algorithms for an unmanned surface vehicle (USV) is attracting great interest, especially in support of complex missions such as sea rescue. In order to improve the simplicity of the algorithm, a DP algorithm b...
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Xiaobin Qian, Helong Shen, Yong Yin and Dongdong Guo
In this paper, we present a novel nonlinear model predictive control (NMPC) algorithm based on the Laguerre function for dynamic positioning ships to solve the problems of input saturation, unknown time-varying disturbances, and heavy computation. The no...
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Dapeng Zhang, Bowen Zhao, Haoyu Jiang and Keqiang Zhu
The conventional mooring positioning technique is cost-effective; however, it shows poor maneuverability and positioning precision. In this study, to calculate the mooring tension, mooring cables were discretized into lumped mass models using the lumped ...
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Yufang Zhang, Changde Liu, Nan Zhang, Qian Ye and Weifeng Su
Focusing on dynamic positioning (DP) systems for ships, which are subject to environmental disturbances and actuator constraints, this paper presents a finite-time controller that uses a disturbance observer with the aid of a backstepping technique. Firs...
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Seongpil Cho, Hyungwon Shim and Young-Shik Kim
The conventional proportional derivative (PD) control algorithm with appropriate gain scheduling is generally applied to a dynamic positioning (DP) system. However, finding appropriate gains through gain scheduling makes the DP system more complicated. A...
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Alexander Konoplin, Nikita Konoplin and Alexander Yurmanov
The article considers the issues of development of a smart system for supporting activities of ROV operators and its practical implementation for the efficient operation a ROV Comanche 18 that is based on the R/V Akademik M.A. Lavrentiev. The system uses...
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Chenglong Gong, Yixin Su and Danhong Zhang
In this paper, a variable gain prescribed performance control law is proposed for dynamic positioning (DP) of ships with positioning error constraints, input saturation and unknown external disturbances. The error performance index functions are designed...
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Cheng Liu, Ting Sun and Qizhi Hu
Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only the position and orientation but also the velocities are required to be controlled for...
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Mohamad Alremeihi, Rosemary Norman, Kayvan Pazouki, Arun Dev and Musa Bashir
Oil drilling and extraction platforms are currently being used in many offshore areas around the world. Whilst those operating in shallow seas are secured to the seabed, for deeper water operations, Dynamic Positioning (DP) is essential for the platforms...
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Murugan Ramasamy, Mohammed Abdul Hannan, Yaseen Adnan Ahmed and Arun Kr Dev
Offshore vessels (OVs) often require precise station-keeping and some vessels, for example, vessels involved in geotechnical drilling, generally use Spread Mooring (SM) or Dynamic Positioning (DP) systems. Most of these vessels are equipped with both sys...
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