Learing tracking controllers under unknown disturbances for the installation of rigid and flexible structures

摘要

During the installation operations of underwater structures, offshore structure such as semisubmersibles, the steady nonlinear hydrodynamic force due to the ocean current, the tidal current, and the hydrodynamic interaction between structures are regarded as major disturbances. Generally, it is difficult and very expensive to collect information about these disturbances in advance, although such knowledge would be important and necessary for precise installation.