Dynamc Positioning of Ships. A nonlinear control design study

Dynamic positioning (DP) is relatively a new technique used to maintain the position and heading of ships in various offshore operations. Due to the features like better safety and operating efficiency, DP systems are becoming more and more popular. This thesis mainly focusses on the control system design part of the DP system. The theoretical study is based on a naive mathematical model of a ship and the forces and disturbances acting on it. The design objective is the regulation of a vessel to a desired operating point. Two main concepts for the DP control system design presented in this thesis are: the control system design based on the state dependent Riccati equation and the control system design using the port-Hamiltonian framework.

S. Muhammad

23-4-2012 10:00:00