A Switching Control Perspective on the Offshore Construction Scenario of Heavy-Lift Vessels
Jun Ye (TU Delft - Marine and Transport Technology)
Spandan Roy (TU Delft - Ship Design, Production and Operations, International Institute of Information Technology)
Milinko Godjevac (Allseas Group S.A.)
S. Baldi (TU Delft - Team Bart De Schutter)
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Abstract
Position control for heavy-lift construction vessels is crucial for safe operation during offshore construction. During the various phases of a typical offshore construction assignment, considerable changes in the dynamics of the crane-vessel system occur. Operational hazard was reported if such interchanging dynamics are not properly handled. However, to date and the best of our knowledge, no systematic control solution is reported considering multiphase offshore construction scenarios. This article proposes a switched dynamical framework to model the interchanging phases and to formulate a comprehensive position control solution for heavy-lift vessels. Stability and robustness against modeling imperfections and environmental disturbances are analytically assessed. The effectiveness of the solution is verified on a realistic heavy-lift vessel simulation platform; it is shown that the proposed switched framework sensibly improves accuracy and reduces hazard compared with a nonswitched solution designed for only one phase of the construction scenario.