Positioning the Semi-Submersible Platform Using Model Predictive Control with Thruster Constraints

The Semi-Submersible Platform (SSP) has a complex propulsion system, requiring high precision control force values to maintain a stable working position. This paper develops a Model Predictive Control (MPC) solution in SSP positioning. The response of the proposed controller is evaluated with the objective function that minimizes the error within the constraints of the thruster's physical limits. From there, the response quality of the controller is improved in the actual operating conditions under environmental impact. Feasibility results in simulation cases have demonstrated the effectiveness of the study.