Adaptive dynamic positioning control for accommodation vessels with multiple constraints

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Abstract
In this study, adaptive constrained control with non‐linear adaptive filter is proposed for the dynamic positioning of an accommodation vessel (AV) in deep water area. To reduce wear and tear on the thrusters due to the high frequency (HF) wave‐induced motion, a non‐linear neural network filter is designed to estimate the low frequency motion by filtering out the HF motion in the presence of parametric uncertainties. The proposed filter is able to handle the variation of sea conditions by adaptively adjusting the wave frequency components. Based on the designed filter, an adaptive neural control with input and output constraints is developed to tackle the non‐linearities of control signals and guarantee a safe operation. The semi‐global uniform boundedness of all the closed‐loop signals is investigated through rigorous Lyapunov analysis. A set of simulation studies are conducted on a typical AV model to demonstrate the effectiveness of the proposed filter and control.

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