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Shock and Vibration
Volume 2014, Article ID 123107, 11 pages
Research Article

Delay-Range-Dependent Control for Automatic Mooring Positioning System with Time-Varying Input Delay

1College of Automation, Harbin Engineering University, Harbin 150001, China
2School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China
3Tianjin Navigation Instrument Research Institute, Tianjin 300131, China

Received 17 June 2013; Accepted 2 September 2013; Published 27 February 2014

Academic Editor: Hongyi Li

Copyright © 2014 Xiaoyu Su et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Aiming at the economy and security of the positioning system in semi-submersible platform, the paper presents a new scheme based on the mooring line switching strategy. Considering the input delay in switching process, control with time-varying input delay is designed to calculate the control forces to resist disturbing forces. In order to reduce the conservativeness, the information of the lower bound of delay is taken into account, and a Lyapunov function which contains the range of delay is constructed. Besides, the input constraint is considered to avoid breakage of mooring lines. The sufficient conditions for delay-range-dependent stabilization are derived in terms of LMI, and the controller is also obtained. The effectiveness of the proposed approach is illustrated by a realistic design example.