@article{10902/30712,
year = {2023},
month = {11},
url = {https://hdl.handle.net/10902/30712},
abstract = {This article presents a model predictive control for dynamic positioning (DP) of floating caisson at different draughts. This article focuses on the maneuvres related to the control of the spatial situation of the caisson in connexion with the final caisson reference point and the process of descending to the seabed desired location. Different models of the caisson in order to perform realistic simulations and to test the robustness of the controller are considered. A gain scheduling model predictive control (GSMPC) has been implemented, with parameter switch among four model predictive control (MPC) controllers. In this way, a specific MPC for the dynamics of each draught will be used in each caisson model corresponding to a draught. Furthermore, a Kalman filter has been implemented to remove the disturbances. Finally, in the simulations results it is compared the performance of the proposed controller with a clasic one and also it is checked how the proposed controller is able to position the system in all draughts with stability and accurate dynamic control of the system.},
organization = {The Spanish FEDER/Ministry of Science, Innovation and Universities–State Research Agency has partially supported through the SAFE Project (Desarrollo de un Sistema Autónomo para el Fondeo de Estructuras para Obras Marítimas), Grant Agreement: Proyecto RTC-2017-6603-4 financiado por MCIN/AEI/10.13039/501100011033 y FEDER “Una manera de hacer Europa”. The Regional Ministry of Universities, Equality, Culture and Sports of the Government of Cantabria has provided partial support through the ControlFond project (Control De Vehículos Subacuáticos No Tripulados Para Supervisión De Estructuras Para Obras Marítimas Fondeadas).

The authors would like to thank FCC Construcción S.A. as a collaborator in the development of the SAFE Project, specially Victor Florez Casillas and Nuria Cotallo Aguado (Technical Direction/Hydraulic and Maritime Works) and Alvaro de Toro Mingo (Machinery Direction). Raul Guanche also acknowledges financial support from the Ramon y Cajal Program (RYC-2017-23260) of the Spanish Ministry of Science, Innovation and Universities. Ayuda RYC-2017- 23260 financiada por MCIN/AEI/10.13039/501100011033 y FSE “El FSE invierte en tu futuro”.},
publisher = {Wiley-Blackwell},
publisher = {International Journal of Adaptive Control and Signal Processing, 2023, 37(11), 3026-3047},
title = {Gain scheduling model predictive control for dynamic positioning of floating caissons at different draughts},
author = {Sainz Gutiérrez, José Joaquín and Revestido Herrero, Elías and Llata García, José Ramón and Velasco González, Francisco Jesús and González Sarabia, Esther and Rodríguez Luis, Alvaro and Fernández Ruano, Sergio and Guanche García, Raúl},
}