Adaptive optimal control of multi-modular floating platforms in random seas

摘要: This paper presents an adaptive optimal control method to suppress the oscillation of a floating platforms system in random seas. The consists multiple modules which are connected by flexible connectors with strong geometrical nonlinearity. To cope uncertain waves, disturbance estimator is introduced assess actual wave excitation. scheme integrated subject limitation on outputs actuators, where process carried out sequential quadratic program method. In numerical experiments, platform five semi-submersible considered. Control deals 20 variables stabilize surge, sway and yaw motions 30-DOF system, unknown irregular waves output. Numerical results have verified efficiency strategy show that proposed performs very well.