Modeling and Control of Offshore Pipelay Operations Based on a Finite Strain Pipe Model

Jensen, Gullik A.; Säfström, Niklas; Nguyen, Tu Duc; Fossen, Thor I.

doi:10.1109/acc.2009.5160110

Cited by 10 publications

(14 citation statements)

References 13 publications

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“…1 sub-or superscript t or r refer to the translational or rotational part of the system respectively, while superscript s denotes the spatial frame…”

Section: Numerical Solution Using Splittingmentioning

confidence: 99%

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Splitting methods for controlled vessel offshore operations

Høiseth¹,

Celledoni²,

Gustafsson³

et al. 2015

AIP Conference Proceedings

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We consider splitting methods for the numerical solution of differential equations with controls, arising from a marine vessel rigid body model. This model is used in simulations of offshore pipe-lay operations. The system of ordinary differential equations comprises a Coriolis centripetal term, a damping term, a term for environmental forces, a term for restoring forces and moments, and a control term. We propose a splitting into the conservative part, which is nonlinear, but completely integrable (i.e. solutions of the system can be obtained by quadrature), and the damping and control parts, which are linear and can be integrated exactly. The passivity of this system is also considered.

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“…1 sub-or superscript t or r refer to the translational or rotational part of the system respectively, while superscript s denotes the spatial frame…”

Section: Numerical Solution Using Splittingmentioning

confidence: 99%

“…The control parameters are the vessel position and velocity, the pay-out speed, and the pipe tension. The control objectives consist in determining the touchdown position of the pipe, as well as ensuring the integrity of the pipe and avoiding critical deformations, see Jensen et al [1] and Jensen et al [2].…”

Section: Introductionmentioning

confidence: 99%

Splitting methods for controlled vessel offshore operations

Høiseth¹,

Celledoni²,

Gustafsson³

et al. 2015

AIP Conference Proceedings

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show abstract

“…Integrating the obtained differential inequality we get (17). Notice that integrating (12) with negative time corresponds to solvinġ…”

Section: Passivity-preserving Splitting Of Input-state-output Port-hamentioning

confidence: 99%

“…where the superscript s denotes that the vector lies in the spatial frame. Again following [12], we have for the rotational part…”

Section: A Vessel Rigid Body Modelmentioning

confidence: 99%

Passivity-preserving splitting methods for rigid body systems

Celledoni¹,

Høiseth²,

Ramzina³

2018

Multibody Syst Dyn

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A rigid body model for the dynamics of a marine vessel, used in simulations of offshore pipe-lay operations, gives rise to a set of ordinary differential equations with controls. The system is input-output passive. We propose passivity-preserving splitting methods for the numerical solution of a class of problems which includes this system as a special case. We prove the passivitypreservation property for the splitting methods, and we investigate stability and energy behaviour in numerical experiments. Implementation is discussed in detail for a special case where the splitting gives rise to the subsequent integration of two completely integrable flows. The equations for the attitude are reformulated on SO(3) using rotation matrices rather than local parametrizations with Euler angles.

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“…The controller designing with the uncertain nonlinear system has become a very active field of the control fields [2][3] [4].Many control methods have been proposed, such as adaptive control [5][6] [7], backstepping control [8,9], predictive control [10] [11],and sliding mode control etc [12] .…”

Section: Introductionmentioning

confidence: 99%

Observer-based nonsingular terminal sliding mode controller design

Xie¹

2012

2012 24th Chinese Control and Decision Conference (CCDC)

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This is the paper style requirement for the Chinese Control and Decision Conference. In this paper, a new observer-based nonsingular terminal sliding mode controller is proposed for a spin missile system with inertia uncertainty and external disturbance. By designing the nonlinear disturbance observer to observe the uncertainties and disturbance of the missile system, the chattering of nonsingular terminal sliding mode control is reduced. This controller can make the states not only reach the manifold in finite time, but also obtain a faster convergence and a better tracking precision. The global stability of the closed loop system is guaranteed and the singularity problem associated with conventional terminal sliding mode is avoided. The simulations verified the effectiveness of the proposed method in the paper.

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Modeling and Control of Offshore Pipelay Operations Based on a Finite Strain Pipe Model

Cited by 10 publications

References 13 publications

Splitting methods for controlled vessel offshore operations

Splitting methods for controlled vessel offshore operations

Passivity-preserving splitting methods for rigid body systems

Observer-based nonsingular terminal sliding mode controller design

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