Model Experiments on Positioning System Using Gain Scheduled Controller

摘要

The paper is concerned with a dynamic position control for a semi-submersible platform model using a gain scheduled H_infinity controller. 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.