TY - JOUR
T1 - Path following control for towing system of cylindrical drilling platform in presence of disturbances and uncertainties
AU - Tao, Jin
AU - Du, Lei
AU - Dehmer, Matthias
AU - Wen, Yuanqiao
AU - Xie, Guangming
AU - Zhou, Quan
N1 - Publisher Copyright:
© 2019 ISA
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/12
Y1 - 2019/12
N2 - Towing is a critical process to deploy a cylindrical drilling platform. However, the towing process faces a great variety of risks from a complex nautical environment, the dynamics in towing and maneuvering, to unexpected events. Therefore, safely navigating the towing system following a planned route to a target sea area is essential. To tackle the time-varying disturbances induced by wind, current and system parametric uncertainties, a path following control method for a towing system of cylindrical drilling platform is designed based on linear active disturbance rejection control. By utilizing Maneuvering Modeling Group model as well as a catenary model, we develop a three degree-of-freedom dynamic mathematical model of the towing system under external environmental disturbances and internal uncertainties. Furthermore, we design a linear active disturbance rejection control path following controller for real-time tracking error correction based on a guidance method combining cross-track error and parallax. Finally, the path following performance of the towing system is evaluated in a simulation environment under various disturbances and internal uncertainties, where the corresponding tracking error is analyzed. The results show that the linear active disturbance rejection control performs well under both the external disturbance and inherent uncertainties, and better satisfy the tracking performance criteria than a traditional proportional–integral–derivative controller.
AB - Towing is a critical process to deploy a cylindrical drilling platform. However, the towing process faces a great variety of risks from a complex nautical environment, the dynamics in towing and maneuvering, to unexpected events. Therefore, safely navigating the towing system following a planned route to a target sea area is essential. To tackle the time-varying disturbances induced by wind, current and system parametric uncertainties, a path following control method for a towing system of cylindrical drilling platform is designed based on linear active disturbance rejection control. By utilizing Maneuvering Modeling Group model as well as a catenary model, we develop a three degree-of-freedom dynamic mathematical model of the towing system under external environmental disturbances and internal uncertainties. Furthermore, we design a linear active disturbance rejection control path following controller for real-time tracking error correction based on a guidance method combining cross-track error and parallax. Finally, the path following performance of the towing system is evaluated in a simulation environment under various disturbances and internal uncertainties, where the corresponding tracking error is analyzed. The results show that the linear active disturbance rejection control performs well under both the external disturbance and inherent uncertainties, and better satisfy the tracking performance criteria than a traditional proportional–integral–derivative controller.
KW - Cylindrical drilling platform
KW - Disturbances and uncertainties
KW - Linear active disturbance rejection control
KW - Path following control
KW - Proportional–integral–derivative
KW - Towing system
UR - http://www.scopus.com/inward/record.url?scp=85066118047&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2019.04.030
DO - 10.1016/j.isatra.2019.04.030
M3 - Article
C2 - 31151750
AN - SCOPUS:85066118047
SN - 0019-0578
VL - 95
SP - 185
EP - 193
JO - ISA Transactions
JF - ISA Transactions
ER -