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This paper considers mathematical models for model-based controller design in offshore pipelay operations. Three classes of models for control design are discussed, real-world models suitable for controller design verification, controller and observer models which are used on-line in the control system implementation. The control application place requirements on the model with respect to the computational time, dynamic behavior, stability and accuracy. Models such as the beam model, two catenary models, as well as general finite element (FE) models obtained from computer programs were not able to meet all of the requirements, and two recent dynamic models designed for control are presented, which bridge the gap between the simple analytical and more complex FE models. For completeness, modeling of the pipelay vessel, stinger and roller interaction, soil and seabed interaction and environmental loads are discussed.

This paper considers the problem of installing offshore pipelines by means of pipelay vessels from a control perspective. Specifically, the paper is divided into two main parts, where the first part gives a thorough introduction to the fundamentals of pipelay operations and the challenges and possibilities associated with such operations. The second part then suggests how pipelay operations can be further automated by augmenting the manually-operated dynamic positioning (DP) systems of today with sophisticated guidance functionality that may improve operational precision and safety by relying on advanced mathematical models.