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L1 Adaptive Control for Marine Structures

Author

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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)

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.

Suggested Citation

  • Jose Joaquin Sainz & Victor Becerra & Elías Revestido Herrero & Jose Ramon Llata & Francisco J. Velasco, 2023. "L1 Adaptive Control for Marine Structures," Mathematics, MDPI, vol. 11(16), pages 1-22, August.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:16:p:3554-:d:1219023
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    References listed on IDEAS

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    1. Guoqing Xia & Jingjing Xue & Chuang Sun & Bo Zhao, 2019. "Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer," Mathematical Problems in Engineering, Hindawi, vol. 2019, pages 1-9, February.
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