Optimal stochastic sliding mode control of underway replenishment in a random sea
Papoulias, Fotis A.
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Motion control of underway replenishment operations is achieved through the use of sliding mode control with a Linear Quadratic Gaussian compensator design. External disturbances include first-order wave force and moment as well as slowly varying interaction forces and moments between the two ships. Feedback control is used to provide adequate stability of motions while feedforward control with disturbance estimation and compensation achieves the desired steady state accuracy. The results demonstrate that satisfactory path keeping during operations can be maintained for various ship proximity distances and environmental conditions.
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