Observer-Based Robust Control for Dynamic Positioning in Float-Over Installation of Offshore Converter Stations

With the development of offshore wind power progressing towards larger-scale and deeper-water projects, the float-over installation of offshore converter stations has become a mainstream solution due to its high carrying capacity, efficiency and cost-effectiveness. This study addresses the dynamic positioning (DP) challenges during this operation, where traditional PID controllers often struggle with performance under complex environmental loads. An Observer-Based Robust Controller (OBRC) is proposed and integrated with a constant parameter time-domain model (CPTDM) to simulate the DP process of a novel T-U barge. Time-domain simulations for both standby and entry phases were conducted under various wave directions and periods. The results demonstrate that the OBRC significantly outperforms the conventional PID controller in maintaining positioning accuracy. The findings provide critical insights into motion responses and control strategies, offering valuable guidance for the design and safe operation of future float-over installations.