Heading Control of a Turret Moored Offshore Structure Using Resolved Motion and Acceleration Control

  • Kim, Young-Shik (Korea Research Institute of Ships and Ocean Engineering) ;
  • Sung, Hong-Gun (Korea Research Institute of Ships and Ocean Engineering) ;
  • Kim, Jin-Ha (Korea Research Institute of Ships and Ocean Engineering)
  • Received : 2018.01.18
  • Accepted : 2018.03.20
  • Published : 2018.03.31


This paper addresses the heading control of an offshore floating storage and regasification unit (FSRU) using a resolved motion and acceleration control (RMAC) algorithm. A turret moored vessel tends to have the slewing motion. This slewing motion may cause a considerable decrease in working time in loading and unloading operation because the sloshing in the LNG containment tank might happen and/or the collision between FSRU and LNGC may take place. In order to deal with the downtime problem due to this slewing motion, a heading control system for the turret moored FSRU is developed, and a series of model tests with azimuth thrusters on the FSRU is conducted. A Kalman filter is applied to estimate the low-frequency motion of the vessel. The RMAC algorithm is employed as a primary heading control method and modified I-controller is introduced to reduce the steady-state errors of the heading of the FSRU.



Grant : Establishment of Research Infrastructure for Deepsea Offshore Engineering Bain and Development of Offshore Structure PreFEED technologies, Development of Basic Operational Technique for Running of the Deepsea Offshore Engineering Basin

Supported by : Ministry of Oceans and Project of Fisheries of Korea, Korea Research Institute of Ships and Ocean Engineering (KRISO)


  1. FOSSEN, THOR I. Guidance and Control of Ocean Vehicles, John wiley & sons, 1994.
  2. Hyun, Woong-Keun, Suh, Il-Hong, Shu, Byung-Sul, Lim, Joon-Hong, Kim, Kyung-Ki, A Pointwise PD-Optimal Control of Robotic Manipulators for Continuous Path with Bounded Inputs, KIEE, vol. 37, No. 3, pp.186-193, Mar. 1988.
  3. Kim, Young-Shik, Lee, Jihong, Kim, Jin-Ha, Jun, Bong-Huan and Lee, Pan-Mook (2009), Path Tracking Control Based on RMAC in Horizontal Plane for a Torpedo-Shape AUV, ISiMi, Journal of Ocean Engineering and Technonogy 2009, Vol23, No6, p 146-155.
  4. Taunuri, E.A., Donha, D.C. and Pesce, C.P. (2001), Dynamic positioning of a turret moored FPSO using sliding mode control, Int. J. Robust Nonlinear Control 2001; 11:1239-1256.
  5. Tannuri, E.A., Morishita, H.M. (2006), Experimental and numerical evaluation of a typical dynamic positioning system, Applied Ocean Research 28 (2006), pp 133-146.