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Cooperative consensus control of two semi-submersible platforms connected by a telescopic gangway

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Abstract

Accommodation vessels are specifically built to offer comfortable accommodation for crews, onsite construction, and production platform maintenance. Two platforms are usually connected by a telescopic gangway, the safety and feasibility of which are crucial during offshore operations. In this paper, the dynamic response of a passive gangway between two DP semi-submersible platforms are investigated. The numerical model is established in time domain, where the hydrodynamics are calculated in the frequency domain using 3D potential theory. Consensus-based cooperative control strategies are proposed in both guidance and controller level to reduce the extension and rotation of the gangway. The communication between individual DP systems is modeled using graph theory. The cooperative controllers are distributed, scalable, and can be conveniently combined with existing DP systems. Full nonlinear time domain simulations are performed using both non-cooperative and cooperative control designs. The comparisons demonstrate the efficacy of the proposed strategies in maintaining the dynamic response of the telescopic gangway within a limited range.

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Acknowledgements

The authors greatly acknowledge the support of the Science and Technology Commission of Shanghai Municipality (Grant 21DZ1201106), Shanghai International Science and Technology Cooperation Fund (Grant 19510744800) and Shanghai Rising-Star Program (Grant 21QC1401000). Funding was supported by Ministry of Industry and Information Technology of the People’s Republic of China ([2018] 473), Hainan Provincial Department of Science and Technology (520LH051).

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Authors and Affiliations

  1. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Xu Jiang, Huacheng He, Lei Wang, Shengwen Xu & Yiting Wang

  2. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai, 200240, China

    Xu Jiang, Huacheng He, Lei Wang, Shengwen Xu & Yiting Wang

  3. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Xu Jiang, Huacheng He, Lei Wang, Shengwen Xu & Yiting Wang

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  1. Xu Jiang
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  2. Huacheng He
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  3. Lei Wang
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  4. Shengwen Xu
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  5. Yiting Wang
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Correspondence to Yiting Wang.

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Jiang, X., He, H., Wang, L. et al. Cooperative consensus control of two semi-submersible platforms connected by a telescopic gangway. J Mar Sci Technol 28, 234–247 (2023). https://doi.org/10.1007/s00773-023-00921-0

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  • DOI: https://doi.org/10.1007/s00773-023-00921-0

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