Fig. 12 Comparision between PID control and H∞ control of maximum deviation and average thruster force
Tank tests Can be Conducted for Mono-column type platform shown in Figure 13.
Fig. 13 Model test equipment layout diagram
A function to be able to evaluate the H∞ control system was added to the DP-MAP, and the experimental results were compared with the results of the numerical simulation.
Figure 14 shows the comparison between the experimental results by the H∞ control and the calculation results by the DP-MAP. The simulated calculation results by the DP-MAP are approximately that same as the experimental results. The calculation results indicate the positioning performance is slightly higher than in the experimental results.
Fig. 14 Comparision of H∞ control between experimental result and numerical result
