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

Abstract

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