Nonlinear modeling of a moored floating platform in stochastic environment

In this work the phases for physical modeling of a scale prototype of semisubmergible floating platform in stochastic environment are presented. The model takes into account embedded actuators for dynamic positioning and levelling in six degrees of freedom which allow the platform to be global controllable. In the modelation of environment the effects of waves are separated into high- and low-frequency components. This division is appropriate for the different actuators. The resulting state-space model is highly nonlinear mainly due to the change of ballast in each vessel and due to the structure of the fluid interaction dynamic