Prescribed-time robust servo control of the tip position of offshore gangway

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  • (Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China)

Online published: 2025-04-29

Abstract

The offshore gangway with wave compensation function installed on the operation and maintenance (O&M) vessel can compensate for the motion of the O&M vessel caused by waves, and make its tip follow a position above the connection point of the floating offshore wind power platform (FOWPP), thereby establishing a safe and stable transfer channel between the O&M vessel and the FOWPP. This paper considered parameter uncertainties of the gangway motion mathematical model and the generalized disturbance forces due to the motion of the O&M vessel. Firstly, a new prescribed-time function was designed, and a new prescribed-time disturbance observer (PTDO) was constructed to estimate the total disturbances consisting of parameter uncertainties of the gangway motion mathematical model and the generalized disturbance forces due to the motion of the O&M vessel, and make the total disturbance estimation errors converge to zero in a prescribed estimation time. Secondly, combining the constructed new PTDO, the backstepping control method and the prescribed-time control method, a prescribed-time robust servo control law of the tip position of gangway was designed to make the tracking errors of the tip position of gangway converge to zero in a prescribed settling time. Theoretical analysis and simulations verify the effectiveness and robustness of the designed control law.

Cite this article

HU Jun, DU Jialu, LI Meng, LIN Ze . Prescribed-time robust servo control of the tip position of offshore gangway[J]. Journal of Dalian Maritime University, 2025 , 51(3) : 11 -19 . DOI: 10.16411/j.cnki.issn1006-7736.2025.03.002

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