Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation

Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal offshore structures to maintain vessel's position. Studies have reported cases instability DP operation caused by uncertainties, such as mooring forces. “robustification” for heavy lift operations, i.e., handling uncertainties systematically with stability guarantees, is a long-standing challenge in design. A new method, composed an observer controller, proposed address this challenge, guarantees presence uncertainties. We test method on integrated cranevessel simulation environment, where integration several subsystems (winch dynamics, forces, thruster fuel injection system etc.) allow realistic validation under wide set