When an offshore structure is constructed from several part- structures, the construction operations, such as mating, positioning and transportation of those structures to the objective point, must be carried out under various disturbances. This paper presents learning trajectory tracking control when the structures are repeatedly transported along the objective trajectory under unknown steady state disturbance. Corresponding to this, a learning controller which consists of both feedback controller and feedforward controller is proposed. The controller improves its feedforward control force every time it tracks the same objective trajectory by learning unknown disturbances from the difference between the objective trajectory and previously realized trajectory. Simulation and a basin test using a model of a semi-submersible were conducted. The learning controller showed good performance in results of the simulation and model test in the field on unknown disturbances.

  • Supplemental Notes:
    • J Soc Naval Arch Japan, v 178, Dec 1995, p 305 [7 p, 7 ref, 1 tab, 12 fig]
  • Authors:
    • Suzuki, H
    • Yoshida, K
    • Tao, Q
  • Publication Date: 1995


  • Japanese

Subject/Index Terms

Filing Info

  • Accession Number: 00727943
  • Record Type: Publication
  • Source Agency: British Maritime Technology
  • Files: TRIS
  • Created Date: Nov 4 1996 12:00AM