Mitigating surge–pitch coupled motion by a novel adaptive fuzzy damping controller for a semisubmersible platform

  • Huacheng He
  • Shengwen Xu
  • Lei WangEmail author
  • Bo Li
Original article


For dynamic positioning systems, a three degree-of-freedom motion control in the horizontal plane has usually been regarded as adequate for practical applications. However, for marine structures with a small water-plane area and low metacentric height, unintentional surge–pitch coupled motion will be induced by thruster actions. To effectively mitigate the thruster-induced pitch motion, we first apply a pitch damping controller for the dynamic positioning of a semisubmersible platform. Quantitative studies are conducted to select the optimal control coefficient for this damping controller, and its influence on surge–pitch coupled motion is analyzed theoretically and numerically. Furthermore, a novel adaptive fuzzy damping controller is proposed to improve the pitch mitigating effect. The fuzzy controller takes low-frequency pitch angle and pitch rate as inputs, and outputs time-varying damping control coefficient through fuzzy inference. Comparisons are made between the fixed damping controller and the proposed fuzzy damping controller. Finally, a parametric analysis is conducted to investigate the influence of the maximum damping control coefficient on pitch motion. The overall simulation results show that the proposed fuzzy damping controller has better performance than the fixed damping controller.


Dynamic positioning system Surge–pitch coupled motion control Adaptive fuzzy control Time-domain simulation 



The authors greatly acknowledge the support of the China Postdoctoral Science Foundation (Grant no. 2017M621479), the Open Foundation of State Key Laboratory of Ocean Engineering (Grant no. 1717), the National Natural Science Foundation of China (Grant no. 51709170), and the Shanghai Sailing Program (Grant no. 17YF1409700).


  1. 1.
    Sørensen AJ (2011) A survey of dynamic positioning control systems. Ann Rev Control 35(1):123–136CrossRefGoogle Scholar
  2. 2.
    Balchen JG, Jenssen NA, Sælid S (1976) Dynamic positioning using kalman filtering and optimal control theory. In: IFAC/IFIP symposium on automation in offshore oil field operation. Bergen, Norway, vol 183, p 186Google Scholar
  3. 3.
    Jenssen N (1981) Estimation and control in dynamic positioning of vessels. NTH (NTNU), TrondheimGoogle Scholar
  4. 4.
    Fung P, Grimble M (1983) Dynamic ship positioning using a self-tuning kalman filter. IEEE Trans Autom Control 28(3):339–350CrossRefzbMATHGoogle Scholar
  5. 5.
    Aarset MF, Strand JP, Fossen TI (1998) Nonlinear vectorial observer backstepping with integral action and wave filtering for ships. IFAC Proc Vol 31(30):77–82CrossRefGoogle Scholar
  6. 6.
    Fossen TI, Grovlen A (1998) Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping. IEEE Trans Control Syst Technol 6(1):121–128CrossRefGoogle Scholar
  7. 7.
    Bertin D, Bittanti S, Meroni S, Savaresi SM (2000) Dynamic positioning of a single-thruster vessel by feedback linearization. In: Proceedings of the IFAC conference on manoeuvring and control of marine craft. Aalborg, Danemark, pp 275–280Google Scholar
  8. 8.
    Tannuri EA, Donha D, Pesce C (2001) Dynamic positioning of a turret moored fpso using sliding mode control. Int J Robust Nonlinear Control IFAC Affiliated J 11(13):1239–1256CrossRefzbMATHGoogle Scholar
  9. 9.
    Tannuri E, Agostinho A, Morishita H, Moratelli L Jr (2010) Dynamic positioning systems: an experimental analysis of sliding mode control. Control Eng Pract 18(10):1121–1132CrossRefGoogle Scholar
  10. 10.
    Fannemel AV (2008) Dynamic positioning by nonlinear model predictive control. Master’s thesis, Institutt for teknisk kybernetikkGoogle Scholar
  11. 11.
    Sotnikova MV, Veremey EI (2013) Dynamic positioning based on nonlinear mpc. IFAC Proc Vol 46(33):37–42CrossRefGoogle Scholar
  12. 12.
    Veksler A, Johansen TA, Borrelli F, Realfsen B (2016) Dynamic positioning with model predictive control. IEEE Trans Control Syst Technol 24(4):1340–1353CrossRefGoogle Scholar
  13. 13.
    Stephens RI, Burnham KJ, Reeve PJ (1995) A practical approach to the design of fuzzy controllers with application to dynamic ship positioning. IFAC Proc Vol 28(2):370–377CrossRefGoogle Scholar
  14. 14.
    Chang WJ, Chen GJ, Yeh YL (2002) Fuzzy control of dynamic positioning systems for ships. J Mar Sci Technol 10(1):47–53Google Scholar
  15. 15.
    Yamamoto M, Morooka C (2005) Dynamic positioning system of semi-submersible platform using fuzzy control. J Braz Soc Mech Sci Eng 27(4):449–455CrossRefGoogle Scholar
  16. 16.
    Hu X, Du J, Shi J (2015) Adaptive fuzzy controller design for dynamic positioning system of vessels. Appl Ocean Res 53:46–53CrossRefGoogle Scholar
  17. 17.
    Hammad MM, Elshenawy AK, El Singaby M (2017) Trajectory following and stabilization control of fully actuated auv using inverse kinematics and self-tuning fuzzy PID. PLoS One 12(7):e0179,611CrossRefGoogle Scholar
  18. 18.
    Sørensen AJ, Strand JP (1998) Positioning of semi-submersibles with roll and pitch damping. IFAC Proc Vol 31(30):61–67CrossRefGoogle Scholar
  19. 19.
    Sørensen AJ, Strand JP (2000) Positioning of small-waterplane-area marine constructions with roll and pitch damping. Control Eng Pract 8(2):205–213CrossRefGoogle Scholar
  20. 20.
    Jenssen NA, Maritime K (2010) Mitigating excessive pitch and roll motions on semi-submersibles. In: Dynamic positioning conference. Marine Technology Society Houston, Houston, USAGoogle Scholar
  21. 21.
    Xu S, Wang X, Wang L, Li J, et al (2013) Dynamic positioning with roll-pitch motion control for a semi-submersible. In: The twenty-third international offshore and polar engineering conference. International Society of Offshore and Polar Engineers, Anchorage, Alaska, USAGoogle Scholar
  22. 22.
    Jin X, Wang L, Xu S, Yang L, et al (2014) Positioning accuracy analysis for a dp platform with roll and pitch motion control. In: The twenty-fourth international ocean and polar engineering conference. International Society of Offshore and Polar Engineers, Busan, KoreaGoogle Scholar
  23. 23.
    Li W, Wang W, Yz D, Gao H, Huang Y (2017) Pitch motion problem induced by dynamic positioning system for new sandglass-type floating body. J Mar Sci Technol 22(1):162–175CrossRefGoogle Scholar
  24. 24.
    Xu S, Wang X, Wang L, Li B (2017) Mitigating roll-pitch motion by a novel controller in dynamic positioning system for marine vessels. Ships Offshore Struct 12(8):1136–1144CrossRefGoogle Scholar
  25. 25.
    Wang L, Wang W, Du Y, Huang Y (2018) A novel adaptive fuzzy PID controller based on piecewise PID controller for dynamic positioning of sandglass-type FDPSO. J Mar Sci Technol. Google Scholar
  26. 26.
    Fossen TI (2011) Handbook of marine craft hydrodynamics and motion control. Wiley, New YorkCrossRefGoogle Scholar
  27. 27.
    Faltinsen O (1993) Sea loads on ships and offshore structures, vol 1. Cambridge University Press, CambridgeGoogle Scholar
  28. 28.
    Johansen TA, Fossen TI, Berge SP (2004) Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming. IEEE Trans Control Syst Technol 12(1):211–216CrossRefGoogle Scholar
  29. 29.
    Zhao ZY, Tomizuka M, Isaka S (1993) Fuzzy gain scheduling of PID controllers. IEEE Trans Syst Man Cybern 23(5):1392–1398CrossRefGoogle Scholar

Copyright information

© The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Ocean EngineeringShanghai Jiao Tong UniversityShanghaiChina
  2. 2.Collaborative Innovation Center for Advanced Ship and Deep-Sea ExplorationShanghaiChina
  3. 3.School of Naval Architecture, Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghaiChina

Personalised recommendations