LQG Control for Dynamic Positioning of Floating Caissons Based on the Kalman Filter
Jose Joaquin Sainz,
Elías Revestido Herrero,
Jose Ramon Llata,
Esther Gonzalez-Sarabia,
Francisco J. Velasco,
Alvaro Rodriguez-Luis,
Sergio Fernandez-Ruano,
Raul Guanche
Affiliations
Jose Joaquin Sainz
Department of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Ingenieros Industriales y de Telecomunicacion, University of Cantabria, Av. de los Castros s/n, 39005 Santander, Spain
Elías Revestido Herrero
Department of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Náutica, University of Cantabria, C/Gamazo 1, 39004 Santander, Spain
Jose Ramon Llata
Department of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Ingenieros Industriales y de Telecomunicacion, University of Cantabria, Av. de los Castros s/n, 39005 Santander, Spain
Esther Gonzalez-Sarabia
Department of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Ingenieros Industriales y de Telecomunicacion, University of Cantabria, Av. de los Castros s/n, 39005 Santander, Spain
Francisco J. Velasco
Department of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Náutica, University of Cantabria, C/Gamazo 1, 39004 Santander, Spain
Alvaro Rodriguez-Luis
Environmental Hidraulics Institute, IH Cantabria, Universidad de Cantabria, c/Isabel Torres n 15, Parque Cientifico y Tecnológico de Cantabria, 39011 Santander, Spain
Sergio Fernandez-Ruano
Environmental Hidraulics Institute, IH Cantabria, Universidad de Cantabria, c/Isabel Torres n 15, Parque Cientifico y Tecnológico de Cantabria, 39011 Santander, Spain
Raul Guanche
Environmental Hidraulics Institute, IH Cantabria, Universidad de Cantabria, c/Isabel Torres n 15, Parque Cientifico y Tecnológico de Cantabria, 39011 Santander, Spain
This paper presents the application of an linear quadratic gaussian (LQG) control strategy for concrete caisson deployment for marine structures. Currently these maneuvers are carried out manually with the risk that this entails. Control systems for these operations with classical regulators have begun to be implemented. They try to reduce risks, but they still need to be optimized due to the complexity of the dynamics involved during the sinking process and the contact with the sea bed. A linear approximation of the dynamic model of the caisson is obtained and an LQG control strategy is implemented based on the Kalman filter (KF). The results of the proposed LQG control strategy are compared to the ones given by a classic controller. It is noted that the proposed system is positioned with greater precision and accuracy, as shown in the different simulations and in the Monte Carlo study. Furthermore, the control efforts are less than with classical regulators. For all the reasons cited above, it is concluded that there is a clear improvement in performance with the control system proposed.
