Improved ADRC Control Strategy in FPSO Dynamic Positioning Control Application

FPSO (Floating Production Storage and Offloading) is an important tool for the exploitation of marine resources currently. In order to improve the safe working performance of FPSO, especially in the complex sea environments, an improved Active Disturbance Rejection Controller (ADRC) was designed to achieve higher control accuracy. This kind of ADRC is the core controller with thruster mooring system as the auxiliary. Moreover, the ADRC is based on a generalized proportional integral (GPI) observer, with the unique ability to solve the problem of uncertain model and disturbance. Finally, the control effect of improved ADRC is analyzed. The result of simulation indicates that improved ADRC shows better effects than traditional ADRC for the station-keeping control of FPSO.