Enhancing disturbance rejection in offshore drilling platforms: a dynamic positioning control scheme using equivalent-input-disturbance method with separated observers

Abstract

This paper presents a dynamic positioning control scheme for offshore drilling platforms using the equivalent-input-disturbance (EID) method with separated observers. The scheme incorporates observer-based disturbance compensation, wave-filtering state estimation, input transformation, and state feedback control to achieve robust control performance. The main contributions include the design of an EID scheme with separated observers, enabling enhanced disturbance-rejection performance, incorporating a notch filter in the EID estimator to reduce energy loss, and giving an observer tuning scheme to achieve a balanced performance between disturbance rejection and wave filtering. Simulation results demonstrate the effectiveness of the proposed scheme. This work provides valuable insights into designing stable and efficient dynamic positioning systems for offshore drilling platforms.

Keywords:

• Dynamic positioning
• equivalent-input-disturbance (EID)
• wave filtering
• disturbance rejection
• separated observer

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

Data sharing is not applicable to this article as no new data were created or analysed in this study.

Additional information

Funding

This work was supported in part by the National Natural Science Foundation of China (Grant No. 62333019) and in part by the 111 project (Grant No. B17040).