Enhancing disturbance rejection in offshore drilling platforms: a dynamic positioning control scheme using equivalent-input-disturbance method with separated observers

Abstract

This paper presents a dynamic positioning control scheme for offshore drilling platforms using the equivalent-input-disturbance (EID) method with separated observers. The scheme incorporates observer-based disturbance compensation, wave-filtering state estimation, input transformation, and state feedback control to achieve robust control performance. The main contributions include the design of an EID scheme with separated observers, enabling enhanced disturbance-rejection performance, incorporating a notch filter in the EID estimator to reduce energy loss, and giving an observer tuning scheme to achieve a balanced performance between disturbance rejection and wave filtering. Simulation results demonstrate the effectiveness of the proposed scheme. This work provides valuable insights into designing stable and efficient dynamic positioning systems for offshore drilling platforms.