L1 Adaptive Control for Marine Structures

Jose Joaquin Sainz (), Victor Becerra, Elías Revestido Herrero, Jose Ramon Llata and Francisco J. Velasco
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Jose Joaquin Sainz: Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Av. de los Castros, s/n, 39005 Santander, Spain
Victor Becerra: School of Energy and Electronic Engineering, University of Portsmouth, Portsmouth PO1 3DJ, UK
Elías Revestido Herrero: Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Av. de los Castros, s/n, 39005 Santander, Spain
Jose Ramon Llata: Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Av. de los Castros, s/n, 39005 Santander, Spain
Francisco J. Velasco: Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Av. de los Castros, s/n, 39005 Santander, Spain

Mathematics, 2023, vol. 11, issue 16, 1-22

Abstract: Nowadays, many maritime structures require precise dynamic positioning (DP) of the constructive elements that compose them. In addition, the use of preconstructed elements that are later moved to the final location has become widespread. These operations have not been automated with the risks involved in carrying out the complex operations required. To minimize these operational risks and to perform a correct DP of floating structures, a new approach based on the L1 adaptive control technique is proposed. As an example of application, a proposed L1 adaptive controller was implemented in the dynamic positioning of a floating caisson. Several simulations of the system with wave disturbances were carried out, and the results were compared with those obtained by applying other classical and advanced control techniques, such as linear quadratic Gaussian control (LQG) and model predictive control (MPC). It was concluded that the proposed L1 adaptive controller performs correct dynamic positioning and reduces the tension generated on the lines concerning the other advanced control techniques with which it was compared. This reduction in line tension leads to an important improvement due to the possibility of reducing the size of the actuators or reducing their number, with the important economic and safety repercussions that these actions entail.

Keywords: dynamic positioning; L1-adaptive; marine structure (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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