Systems and methods for yaw control of offshore platform

A system comprising:

• a floating platform fixed by an anchor leg to an underwater attachment point;
• a yaw member coupled to the floating platform by way of an actuator, wherein the yaw member is operable to convert a hydrodynamic force on the yaw member into a rotational force on the floating platform about a yaw axis;
• a position sensor;
• an environmental sensor;
• and
• a controller, wherein the controller comprises a processor and a memory, and wherein the controller executes instructions stored in the memory so as to carry out operations, the operations comprising:
• determining a desired position of the floating platform in the yaw axis;
• receiving, from the position sensor, information indicative of an actual position of the floating platform in the yaw axis;
• receiving, from the environmental sensor, information indicative of a hydrodynamic condition;
• and
• based on the desired position, the actual position, and the hydrodynamic condition, causing the actuator to move the yaw member, relative to the floating platform, to one or more target positions.

A system comprising:

• a floating platform fixed by an anchor leg to an underwater attachment point;
• a position sensor;
• an aerial vehicle;
• a yaw member coupled to the floating platform;
• and
• a controller, wherein the controller comprises a processor and a memory, and wherein the controller executes instructions stored in the memory so as to carry out operations, the operations comprising:
• determining a desired position of the floating platform in a yaw axis;
• receiving, from the position sensor, information indicative of an actual position of the floating platform in the yaw axis;
• and
• based on the desired position and the actual position, causing the aerial vehicle to generate a downward thrust force on the yaw member, wherein the yaw member is operable to convert the downward thrust force on the yaw member into a rotational force on the floating platform about the yaw axis.

A method comprising:

• determining a desired position of a floating platform in a yaw axis, wherein the floating platform is fixed by an anchor leg to an underwater attachment point, and wherein a yaw member is coupled to the floating platform;
• receiving, from a position sensor, information indicative of an actual position of the floating platform in the yaw axis;
• and
• based on the desired position and the actual position, causing an aerial vehicle to generate a downward thrust force on the yaw member, wherein the yaw member is operable to convert the downward thrust force on the yaw member into a rotational force on the floating platform in a desired direction about the yaw axis.