Robust control of a drilling vessel in dynamic positioning mode, taking into account the functional limitations

The solution of the problem of improving the level and quality of robust control of drillship in dynamic positioning mode based on systems with variable feedback structure taking into account functional limitations is considered. Robust channel was added to control system to ensure the required level of invariance to parametrical uncertainty of mathematical model of drillship. Correction signal of robust channel is generated based on mismatch of the output variables of the real system and reference model. The results of simulations that demonstrate the effectiveness of the proposed approach are given.