Delay-Range-Dependent H∞ Control for Automatic Mooring Positioning System with Time-Varying Input Delay

Abstract EN

Aiming at the economy and security of the positioning system in semi-submersible platform, the paper presents a new scheme based on the mooring line switching strategy.

Considering the input delay in switching process, H∞ control with time-varying input delay is designed to calculate the control forces to resist disturbing forces.

In order to reduce the conservativeness, the information of the lower bound of delay is taken into account, and a Lyapunov function which contains the range of delay is constructed.

Besides, the input constraint is considered to avoid breakage of mooring lines.

The sufficient conditions for delay-range-dependent stabilization are derived in terms of LMI, and the controller is also obtained.

The effectiveness of the proposed approach is illustrated by a realistic design example.