You can manage bookmarks using lists, please log in to your user account for this.
Media type:
E-Article
Title:
Robust adaptive terminal sliding mode control for dynamic positioning of a semi-submersible offshore platform
Contributor:
Zhao, Dongya;
Liang, Hao;
Spurgeon, Sarah K
Published:
SAGE Publications, 2019
Published in:
Transactions of the Institute of Measurement and Control, 41 (2019) 5, Seite 1361-1372
Language:
English
DOI:
10.1177/0142331218778108
ISSN:
0142-3312;
1477-0369
Origination:
Footnote:
Description:
In this paper, a robust adaptive terminal sliding mode controller is proposed for dynamic positioning of a semi-submersible offshore platform. First, a state feedback controller is designed to stabilize the nominal system. Then a robust adaptive terminal sliding mode compensator is developed to eliminate the effects of uncertain dynamics and disturbances. It is shown, using Lyapunov methods, that the tracking error is driven to zero in finite time using the proposed control. The efficacy of the control algorithm is validated using simulation studies; it is shown that recent developments in the domain of robust exact differentiation are very helpful for controller implementation.