Model experiments on dynamic positioning system using gain scheduled controller

Masahiko Nakamura, Wataru Koterayama, Hiroyuki Kajiwara, Tadahiro Hyakudome

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper is concerned with the dynamic position control for a semisubmersible platform model using a gain scheduled H∞ controller. Offshore floating platforms are required to control their position within allowable deviation against the external forces of ocean surface current, wind and waves. A dynamic positioning system using thrusters is generally employed for this. The purpose of the control is to maintain a given position or to adjust the position using thruster activity that does not respond to linear wave force. Based on a rotation matrix in yaw, a linear model with 4 vertices was introduced. The problem was formulated in the framework of a multimodel-based design of the H∞ control law with pole region constraint. Methodology based on LMI (linear matrix inequality) was used to solve the problem. The gain scheduled H∞ controller was implemented by interpolation of the 4 vertex controllers. Model experiments with some successful results are shown.

Original languageEnglish
Pages (from-to)267-272
Number of pages6
JournalInternational Journal of Offshore and Polar Engineering
Issue number4
Publication statusPublished - Dec 2001

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Ocean Engineering
  • Mechanical Engineering


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