Real-time hybrid control of mobile offshore base scaled models

The real-time hybrid control of mobile offshore base scaled models is considered. The mobile offshore base is a large, self-propelled, floating, pre-positioned ocean structure formed of three to five modules and reaching up to 1,500 meters in length. The system requirements are quite complex since the roles, relative positions and dependencies of the modules may change during operation, and the system is hybrid (it contains both continuous activities and discrete event features). We describe the experiment in which three scaled modules are kept aligned by pivoting thrusters and form a miniature runway. The software design for the experiment is discussed, starting with the three-layered control architecture, the software architecture and layout for the experiments, and the real-time implementation. Preliminary results are presented and discussed