中文摘要：

自动锚泊定位系统是实现海洋平台的定点定位重要结构，但由于海洋工作环境的特殊性，往往缺乏稳定性和安全性，且具有输入延时性和约束性。为此，本文在传统锚泊定位系统的基础上，利用三链轮锚机的切换实现4台锚机对12条锚链的控制；采用具有区间时滞相关的鲁棒控制规律对主控制器设计，以抵抗水平方向环境扰动的控制合力，从而实现稳固和安全。仿真结果表明所提出的方法具有有效性及优越性。

英文摘要：

The automatic anchoring location system is a key device for fixed point and location on an ocean platform,however because of particularity in an ocean environment,there is lack of stability,safety and input delay,constraint.Therefore this paper took advantage of switchovers among anchoring machines with three chains gear to obtain the controlfor12anchor chains by four anchoring machines and designed the main controller by robust control law with section lag toresist against environmental disturbance at horizontal direction accordingly to gain the steadiness and safety.The validity andsuperiority in just mention were confirmed by the simulation.