Integral Sliding Mode H∞ Control
In this chapter, sliding mode H∞ control for an offshore steel jacket platform subject to nonlinear self-excited wave force and external disturbance is developed. A sliding mode H∞ controller is designed to reduce oscillation amplitudes of the offshore platform. In the case that the dynamic model of the offshore platform is subject to parameter perturbations, a robust sliding mode H∞ control scheme is proposed. It is found through simulation results that compared with an H∞ controller and a sliding mode controller, the sliding mode H∞ controller requires much less control force; and the oscillation amplitudes of the offshore platform under the sliding mode H∞ controller are less than those under the sliding mode controller.
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