This paper presents the application of an linear quadratic gaussian (LQG) control strategy for concrete caisson deployment for marine structures. Currently these maneuvers are carried out manually with the risk that this entails. Control systems for these operations with classical regulators have begun to be implemented. They try to reduce risks, but they still need to be optimized due to the complexity of the dynamics involved during the sinking process and the contact with the sea bed. A linear approximation of the dynamic model of the caisson is obtained and an LQG control strategy is implemented based on the Kalman filter (KF). The results of the proposed LQG control strategy are compared to the ones given by a classic controller. It is noted that the proposed system is positioned with greater precision and accuracy, as shown in the different simulations and in the Monte Carlo study. Furthermore, the control efforts are less than with classical regulators. For all the reasons cited above, it is concluded that there is a clear improvement in performance with the control system proposed.

Nowadays, many maritime structures require precise dynamic positioning (DP) of the constructive elements that compose them. In addition, the use of preconstructed elements that are later moved to the final location has become widespread. These operations have not been automated with the risks involved in carrying out the complex operations required. To minimize these operational risks and to perform a correct DP of floating structures, a new approach based on the L1 adaptive control technique is proposed. As an example of application, a proposed L1 adaptive controller was implemented in the dynamic positioning of a floating caisson. Several simulations of the system with wave disturbances were carried out, and the results were compared with those obtained by applying other classical and advanced control techniques, such as linear quadratic Gaussian control (LQG) and model predictive control (MPC). It was concluded that the proposed L1 adaptive controller performs correct dynamic positioning and reduces the tension generated on the lines concerning the other advanced control techniques with which it was compared. This reduction in line tension leads to an important improvement due to the possibility of reducing the size of the actuators or reducing their number, with the important economic and safety repercussions that these actions entail.

In this article, a modified L1-adaptive controller with auto-tuning using a genetic algorithm is presented for dynamic positioning of remotely operated vehicles (ROVs) under marine currents, based on a six-degree-of-freedom nonlinear model of an ROV. To enable tuning of some of the parameters of the controller, a cost function related to the error of the steady state positions of the system is minimised with the use of the genetic algorithm. A series of simulations are conducted to ascertain the performance of the system with the implemented controller, taking into consideration the vehicle position, orientation, and control signals sent as commands to the thrusters. The simulations are carried out with noise levels representative of those encountered by the standard underwater instrumentation on an ROV, as well as with underwater current velocities. In addition, the results are compared with those of a classical controller to verify the improvements offered by the controller proposed in this paper.

En este trabajo se presenta una herramienta de software desarrollada para realizar el seguimiento de trayectorias mediante Way-points de forma autónoma por un “Vehículo submarino Operado a Distancia” (ROV). Se ha realizado la integración mediante una interfaz gráfica del software de control y del software desarrollado para el seguimiento de la trayectoria facilitando al operador el establecimiento de la misma en un entorno conocido y el inicio de seguimiento autónomo de forma sencilla. Además de las simulaciones por computador, se han realizado ensayos en la bahía de Santander donde se ha verificado el software desarrollado. Es posible el empleo de esta investigación con fines industriales y docentes para la formación de ingenieros relacionados con el control y el manejo de este tipo de vehículos y de aquellos usuarios que desean desarrollar software con lenguajes de programación como Python.

En este trabajo se presenta la aplicación de un controlador adaptativo L1 para el posicionamiento dinámico de un “Vehículo subacuatico teleoperados a Distancia” (ROV) que puede monitorizar la obra viva y anclajes de parques eólicos marinos. Para ello, se considera el modelo no lineal de 6 grados de libertad de los ROVs. Se han realizado simulaciones con niveles de ruido de instrumentación estándar a bordo de un ROV para determinar el correcto funcionamiento del sistema con el controlador implementado, teniendo en cuenta las salidas de las posiciones y las señales de control comandadas a los propulsores. Se puede emplear esta investigación con fines docentes para la capacitación de los ingenieros responsables del control dinámico de ROVs en la sintonización e implementación de los controladores.