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Volume 8 Issue 4
Apr.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Jun Ye, Spandan Roy, Milinko Godjevac, Vasso Reppa and Simone Baldi, "Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 753-765, Apr. 2021. doi: 10.1109/JAS.2021.1003913
Citation: Jun Ye, Spandan Roy, Milinko Godjevac, Vasso Reppa and Simone Baldi, "Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 753-765, Apr. 2021. doi: 10.1109/JAS.2021.1003913

Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation

doi: 10.1109/JAS.2021.1003913
Funds:  This work was supported by the Program of China Scholarship Council (CSC) (20167720003), the Special Guiding Funds Double First-Class (3307012001A), and the Natural Science Foundation of China (62073074)
More Information
  • Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal of offshore structures to maintain the vessel’s position. Studies have reported cases of instability of DP systems during offshore operation caused by uncertainties, such as mooring forces. DP “robustification” for heavy lift operations, i.e., handling such uncertainties systematically and with stability guarantees, is a long-standing challenge in DP design. A new DP method, composed by an observer and a controller, is proposed to address this challenge, with stability guarantees in the presence of uncertainties. We test the proposed method on an integrated cranevessel simulation environment, where the integration of several subsystems (winch dynamics, crane forces, thruster dynamics, fuel injection system etc.) allow a realistic validation under a wide set of uncertainties.


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    • We solve the challenge of “robustification” of dynamic positioning (DP) for heavy lift operations
    • A new observer + controller DP method is given with stability guarantees
    • An integrated crane-vessel simulation environment is used for a realistic validation


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