Abstract
A dynamic positioning disturbance suppression method is presented for the offshore drilling platform based on the equivalent input disturbance (EID) approach in this paper. Firstly, the offshore drilling platform's low-frequency and wavefrequency motion components are separated by the Luenberger observer. Then a linear-quadratic regulator is designed to ensure the stability of the low-frequency motion closed-loop system. The EID approach is used to estimate and compensate for the unknown time-varying disturbances of the environment, thereby improving the disturbance suppression ability of the system. Simulation results of a supply vessel demonstrate the validity of the method.
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