关键词: 半潜式平台, 动力定位, 控制器, 非线性, 随机, 优化

Abstract: In this paper，controller on dynamic positioning of nonlinear offshore platform under stochastic wave is designed based on rolling horizon optimization.Controller design on dynamic positioning is changed into a nonlinear optimization with constraints based on optimization prediction principle.Based on iteration of system evolution equation，state variables of goal function are eliminated and nonlinear constrain expression of nonlinear optimization is obtained.Examples are given to illustrate the application of the method and simulation shows efficiency of controller.

Key words: semi-submersible platform, dynamic positioning, controller, nonlinear, stochastic, optimization