Nowadays with increasing production and exploration activities offshore, the FPSO system has been widely adopted globally because of its unique design adaptability to these offshore environmental conditions. This research project aims provide station-keeping characteristics an in West African region, by analysing spread mooring for multiple load cases, different offset, draught conditions loads...

Online approximation of an optimal station keeping strategy for a fully actuated six degrees-of-freedom autonomous underwater vehicle is considered. The developed controller is an approximation of the solution to a two player zero-sum game where the controller is the minimizing player and an external disturbance is the maximizing player. The solution is approximated using a reinforcement learni...