Model predictive controller design for the dynamic positioning system of a semi-submersible platform

Abstract

This paper researches how to apply the advanced control technology of model predictive control (MPC) to the design of the dynamic positioning system (DPS) of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints of the system.

Keywords

dynamic positioning system / model predictive controller / constraints handling / semi-submersible platform / low-frequency motion model