ACTIVE CONTROL AND MOTION PLANNING FOR OFFSHORE STRUCTURES

Eugênio Fortaleza (1) , Yann Creff (2) , Jean Lévine (1)

1 CAS - Centre Automatique et Systèmes
2 IFPEN - IFP Energies nouvelles

This paper presents an active control dedicated to the positioning of vertical offshore structures. The trajectory planning and the closed loop system use a convenient model given by the Bernoulli's historical cable equation, completed with a damping factor, that linearly depends on the structure speed. Its solution is directly used in the control design, providing an extension to previous works on control of heavy chains and offshore structures.

Mots clés: Re-entry operation; Motion Planning; Flexible Structures

Domaines: Automatique / Robotique

Eugênio Fortaleza, Yann Creff, Jean Lévine. ACTIVE CONTROL AND MOTION PLANNING FOR OFFSHORE STRUCTURES. Fourth European Conference of Structural Control, Sep 2008, St. Petersburg, Russia. ⟨hal-00533378⟩