A Switching Control Perspective on the Offshore Construction Scenario of Heavy-Lift Vessels

Position control for heavy-lift construction vessels is crucial safe operation during offshore construction. During the various phases of a typical assignment, considerable changes in dynamics crane-vessel system occur. Operational hazard was reported if such interchanging are not properly handled. However, to date and best our knowledge, no systematic solution considering multiphase scenarios. This article proposes switched dynamical framework model formulate comprehensive position vessels. Stability robustness against modeling imperfections environmental disturbances analytically assessed. The effectiveness verified on realistic vessel simulation platform; it shown that proposed sensibly improves accuracy reduces compared with nonswitched designed only one phase scenario.