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Robust Control for Heave Compensator With the Use of Kalman Filter-Based Disturbances Estimator

[+] Author Affiliations
William H. Cuellar, Tassio Melo Linhares, Jose Oniram de A. Limaverde Filho, Jose A. R. Vargas, Eugenio Fortaleza

University of Brasilia, Brasilia, Brazil

Paper No. OMAE2017-61573, pp. V008T11A017; 8 pages
  • ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 8: Polar and Arctic Sciences and Technology; Petroleum Technology
  • Trondheim, Norway, June 25–30, 2017
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5776-2
  • Copyright © 2017 by ASME


This paper presents a backstepping approach for an active heave compensator actuated by a double acting cylinder. For practical applications, is desired to stabilize the system around the equilibrium point when subjected to unknown external disturbances. Knowing the governing equations, a robust backstepping control design is proposed by introducing a well-defined smooth function and using a Nussbaum function together with a Kalman filter-based disturbance estimator. The efficiency of the proposed control scheme is demonstrated through numerical simulations and compared with related works.

Copyright © 2017 by ASME



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