Managing with the presence of sea ice is the primary challenge in the operation of floating platforms in the Arctic region. It is widely accepted that offshore structures operating in Arctic conditions need station-keeping methods as well as ice management by icebreakers. Dynamic Positioning (DP) is one of the station-keeping methods that can provide mobility and flexibility in marine operations. The presence of sea ice generates complex external forces and moments acting on the vessel, which need to be counteracted by the DP system. In this paper, an icevaning control algorithm is proposed that enables Arctic offshore vessels to perform DP operations. The proposed icevaning control enables each vessel to be oriented toward the direction of the mean environmental force induced by ice drifting so as to improve the operational safety and reduce the overall thruster power consumption by having minimum external disturbances naturally. A mathematical model of an Arctic offshore vessel is summarized for the development of the new icevaning control algorithm. To determine the icevaning action of the Arctic offshore vessel without any measurements and estimation of ice conditions including ice drift, task and null space are defined in the vessel model, and the control law is formulated in the task space. A backstepping technique is utilized to handle the nonlinearity of the Arctic offshore vessel’s dynamic model, and the Lyapunov stability theory is applied to guarantee the stability of the proposed icevaning control algorithm. Experiments are conducted in the ice tank of the Korea Research Institute of Ships and Ocean Engineering to demonstrate the feasibility of the proposed approach.

存在海冰的管理是北极地区浮动平台运营中的主要挑战。人们普遍认为，在北极条件下运行的海上构筑物需要采用站位保持方法以及破冰船对冰块的管理。动态定位（DP）是一种站位保持方法，可以在海上作业中提供机动性和灵活性。海冰的存在会产生作用在船上的复杂外力和力矩，这需要通过DP系统来抵消。在本文中，提出了一种制冰控制算法，该算法使北极近海船舶能够执行DP操作。拟议的制冰控制使每艘船都能够朝着由冰漂移引起的平均环境力的方向定向，从而通过自然地使外部干扰最小而提高了操作安全性并降低了整个推进器功率消耗。总结了北极近海船舶的数学模型，以开发新的制冰控制算法。为了在不进行任何测量和估计包括冰漂移，任务和零空间的冰况的情况下确定北极近海船的制冰行为，在船模型中定义了控制律，并在任务空间中制定了控制律。利用反推技术来处理北极近海船舶动力学模型的非线性，并应用李雅普诺夫稳定性理论来保证所提出的刨冰控制算法的稳定性。在韩国船舶与海洋工程研究所的冰罐中进行了实验，以证明该方法的可行性。