Journal
CONTROL ENGINEERING PRACTICE
Volume 17, Issue 9, Pages 985-994Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2009.03.001
Keywords
Position mooring; Heading control; PID control; Supervisory switching control; Estimator-based supervision; Hysteresis switching logic
Funding
- Research Council of Norway
- Centre for Ships and Ocean Structures at the Norwegian University of Science and Technology in Trondheim, Norway
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The position mooring (PM) for marine vessels contains several controllers. such as heading, damping, restoring and mean force controllers which could be activated or deactivated depending on the environmental and operational conditions. This paper proposes to integrate these controllers into a switching control system. The supervisory control is adopted to facilitate the automatic switching. The supervisory switching control involves the designs of a set of models to track the existing operational condition and the switching logic. Simulations and experiments will be provided for validation. It is shown that the switching control could extend the weather window of the PM system. (C) 2009 Elsevier Ltd. All rights reserved.
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