DESIGN OF AUTOMATIC THRUSTER ASSISTED POSITION MOORING SYSTEMS FOR SHIPS

This paper addresses the mathematical modelling and controller design of an automatic thruster assisted position mooring system. Such contro l systems are applied to anchored floating production offloading and s torage vessels and semi-subs. The controller is designed using model b ased control with a LQG feedback controller in conjunction with a Kalm an filter. The controller design is in addition to the environmental l oads accounting for the mooring forces acting on the vessel. This is r eflected in the model structure and in the inclusion of new functional ity.