Reliability-Based Dynamic Positioning Control for Turret-Moored Vessels with Prescribed Performance

To consider the safety of mooring lines and transient performance of system, a reliability-based dynamic surface controller with prescribed performance is proposed for the dynamic positioning (DP) system of turret-moored vessels. The descriptions are given for the vessel model and the reliability of mooring lines at first. Then, a dynamic surface controller is presented on the basis of reliability of mooring lines and prescribed performance function. The performance specifications are imposed in advance on the reliability and heading tracking errors according to the actual demands. By adjusting the reliability, the ability of mooring system can be fully used within the safe range of mooring lines. Therefore, less energy consumption is needed for the DP system. Finally, the numerical simulations illustrate the performance of the presented DP controller.