Robust adaptive control of a thruster assisted position mooring system

In this paper, robust adaptive control is developed for a thruster assisted position mooring system in the transverse direction. To provide an accurate and concise representation for the dynamic behavior of the mooring system, the flexible mooring lines are modeled as a distributed parameter system of partial differential equations (PDEs). The proposed control is applied at the top boundary of the mooring lines for station keeping via Lyapunov’s direct method. Adaptive control is designed to handle the system parametric uncertainties. With the proposed robust adaptive control, uniform boundedness of the system under the ocean current disturbance is achieved. The proposed control is implementable with actual instrumentations since all the signals in the control can be measured by sensors or calculated by using a backward difference algorithm. The effectiveness of the proposed control is verified by numerical simulations.