Multi-point Mooring PID Control Based on Kalman Filtering-Genetic Algorithm-Slow Disturbance Observer Compensation

Abstract

An adaptive PID control technique based on the Kalman Filtering (KF) Genetic Algorithm (GA) and Slow Disturbance Observer Compensation (SDOC) is proposed for multi-point mooring system in this paper. The multi-point mooring model, which is simplified to two-point mooring, is established, its self-tuning PID mooring controller based on KF-GA-SDOC is designed. The multi-point mooring model is updated on-line with the KF and SDOC to filter and observe time-varying signal; the PID mooring control gains are adjustable parameters by selection, crossover and mutation operator of GA; the mooring control system based on KF-GA-SDOC PID is optimized. The simulation results show that the designed KF-GA-SDOC PID mooring controller can maintain good control performance under different conditions.