Sliding Mode 제어 기법을 적용한 해양구조물의 동적위치제어 연구

Abstract

A sliding mode control (SMC) algorithm which can be implemented in the existing dynamic positioning system onboard is developed. The general performance of the SMC algorithm is evaluated by a set of simulations. The settling time of the SMC is roughly 200s with and without external environmental forces. However, the natural sway-yaw motion coupling effect of the ships caused an un-willing errors in non-controlled motion. Therefore, some strategies to decouple the sway-yaw motion in SMC algorithm should be established in the future. is roughly 200s with and without external environmental forces. However, the natural sway-yaw motion coupling effect of the ships caused an un-willing errors in non-controlled motion. Therefore, some strategies to decouple the sway-yaw motion in SMC algorithm should be established in the future.