Robust Control for Heave Compensator With the Use of Kalman Filter-Based Disturbances Estimator

Abstract

This paper presents a backstepping approach for an active heave compensator actuated by a double acting cylinder. For practical applications, is desired to stabilize the system around the equilibrium point when subjected to unknown external disturbances. Knowing the governing equations, a robust backstepping control design is proposed by introducing a well-defined smooth function and using a Nussbaum function together with a Kalman filter-based disturbance estimator. The efficiency of the proposed control scheme is demonstrated through numerical simulations and compared with related works.

Modelagem e controle de heave em coluna de perfuração

“…O desenvolvimento do controle Backstepping é apresentado em Cuellar et al (2017a). Os resultados da simulação numérica da metodologia de controle robusto utilizada são apresentados na Seção 4.5.…”