Station keeping of a subsea shuttle tanker system under extreme current during offloading

This paper presents the station keeping challenge of subsea shuttle tanker (SST) design during underwater loading and offloading at a well under an extreme current environment. The investigates movement SST with speeds, i.e. above 1.6 m/s, in surge, heave pitch motions, respectively. A linear quadratic regulator (LQR) is used for motion control. LQR’s primary focus to achieve target process. Then, average exceedance rate method predict maximum minimum potential depth excursion. value prediction result will serve as basis obtaining cost-efficient provide recommendations decision-makers upon operation.