Optimum Design of a Dynamic Positioning Controller for an Offshore Vessel

Hamed Ahani, Milad Familian, Reza Ashtari


In this paper, an optimal LQG controller is designed to achieve proper dynamic position stabilization on an offshore vessel. The designed control loop operates in the presence of noise from the measurement of sensors, environmental perturbations of waves, winds, and ocean currents. The intended offshore vessel has two side actuators to generate the required torque. The designed controller includes state feedback and an extended Kalman filter. In this study, an additional variable in the system state space is used to improve the performance of the LQG controller in the presence of noise. The results of the simulations performed in the content software show the efficiency of the proposed method compared to the conventional LQG control method. The results of simulations performed in MATLAB reveal a better efficiency of the proposed method compared to the traditional LQG control method.


Dynamic position stabilization, Offshore vessel, LQG optimal controller, State feedback, Extended Kalman filter, Ocean current

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