Sliding-Mode Control of STENA DRILLMAX Drillship with Environmental Disturbances for Dynamic Positioning
A dynamic positioning (DP) system for a real drillship, STENA DRILLMAX is developed. Few controllers such as proportional-integral-derivative (PID) controller and sliding mode control (SMC) are compared. The DP system considers external disturbances due to ocean current, wind, and wave using the Pierson-Moskowitz spectrum. The drillship dynamics are described in the horizontal plane. The results show the feasibility of the DP model before actual implementation for STENA DRILLMAX drillship. The PID controller can be performed better than the SMC in heading control but less attractive for velocity regulation. However, the SMC gives a shorter path to reach a targeted position under the external disturbances.
KeywordsDynamic positioning Proportional-integral-derivative Sliding mode control External environmental disturbances
The authors are grateful to Newcastle University in Singapore.
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