Dynamic Load Positioning

  • Wei He
  • Shuzhi Sam Ge
  • Bernard Voon Ee How
  • Yoo Sang Choo
Part of the Advances in Industrial Control book series (AIC)


In Chap. 3, positioning control in the horizontal plane is investigated for the installation of subsea systems, with thrusters attached, under time-varying irrotational ocean current, when the payload is near to the seabed. Backstepping, in combination with adaptive feedback approximation techniques, is employed in the design of the control, with the option of high-gain observer for output feedback control. The stability of the design is demonstrated through Lyapunov analysis where the semiglobal uniform boundedness of the closed-loop signals is guaranteed. The proposed adaptive neural control is able to capture the dominant dynamic behaviors without exact information on the hydrodynamic coefficients of the structure and current measurements.


Tracking Error Reference Trajectory Splash Zone Output Feedback Control Adaptive Neural Control 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  • Wei He
    • 1
  • Shuzhi Sam Ge
    • 2
  • Bernard Voon Ee How
    • 3
  • Yoo Sang Choo
    • 4
  1. 1.School of Automation EngineeringUniversity of Electronic Science and Technology of China (UESTC)ChengduChina
  2. 2.Dept of Electr. & Computer EngineeringThe National University of SingaporeSingaporeSingapore
  3. 3.Centre for Offshore Research & Engin.National University of SingaporeSingaporeSingapore
  4. 4.Dept of Civil & Environmental Engin.National University of SingaporeSingaporeSingapore

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