Dynamical Sliding Mode Control for Robust Dynamic Positioning Systems of FPSO Vessels

The conventional proportional derivative (PD) control algorithm with appropriate gain scheduling is generally applied to a dynamic positioning (DP) system. However, finding gains through makes the DP system more complicated. A sliding-mode controls an arbitrary point, such as turret on floating production storage and offloading (FPSO) vessel. This was developed for can be FPSO vessels considering uncertainty of vessel dynamics, unknown time-varying environmental disturbances, transient performance. To point using controller, Jacobian matrix in kinematic equation modified present control. Lyapunov stability theory design SM provide robustness time-domain simulation tool verify effectiveness proposed algorithm. performance evaluated numerically address its efficacy. results were compared those obtained PD