Robust Adaptive Fuzzy-Free Fault-Tolerant Path Planning Control for a Semi-Submersible Platform Dynamic Positioning System With Actuator Constraints

Drillships and semi-submersible platforms (SSPs) are used for oil and gas offshore exploration and production activities in seas deeper than 300 meters. These SSPs must be maintained in a predefined position at a predetermined location to complete their offshore tasks. They must have a way to generate forces and angular momentum to balance out external factors (wind, currents, and waves). Actually, the offshore support vessel (OSV) is assisted by dynamic positioning systems (DPSs) in all of its operations, including transit, survival, and station maintenance, and there are significant differences in propulsion systems. In this paper, we suggested a path planning robust adaptive fuzzy-free fault-tolerant control (RAFFFTC) for SSPs with actuator constraints to improve the robust performance and quality of the control system. Accordingly, the adaptive fuzzy controller with adaptive law has been created to change the membership function of the fuzzy controller, and the Lyapunov theory for system stability analysis has been used to illustrate the H_\infty performance of robust tracking, reduced errors in the path planning control of the SSP in the cases of thrusters and disturbance-free fault-tolerant. Finally, a simulation experiment with two scenarios compared its performance to the other controller, with results verifying the proposed controller's effectiveness and demonstrating that it achieved the control quality required in the SSP control process.