Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Coordinating control for a fleet of underactuated ships

Shiriaev, A. ; Robertsson, Anders LU ; Freidovich, L. and Johansson, Rolf LU orcid (2006) 336. p.233-250
Abstract
We consider design of coordinating controllers for a fleet of underactuated ships. Each ship is modeled as a mechanical system with 3 degrees of freedom and 2 control inputs, which are the propeller thrust and the angle of the rudder; presence of lumped environmental forces is assumed. The proposed motion planning procedure relies. on properties of an auxiliary explicitly constructed second order dynamical system. We propose a procedure for motion planning for the whole fleet and for design of a coordinating feedback controller, which stabilizes the motion. In the case when geometric paths for ship motions are given, following our approach, we obtain a description of all feasible motions of the fleet along these paths. In addition, it is... (More)
We consider design of coordinating controllers for a fleet of underactuated ships. Each ship is modeled as a mechanical system with 3 degrees of freedom and 2 control inputs, which are the propeller thrust and the angle of the rudder; presence of lumped environmental forces is assumed. The proposed motion planning procedure relies. on properties of an auxiliary explicitly constructed second order dynamical system. We propose a procedure for motion planning for the whole fleet and for design of a coordinating feedback controller, which stabilizes the motion. In the case when geometric paths for ship motions are given, following our approach, we obtain a description of all feasible motions of the fleet along these paths. In addition, it is shown how to design controllers to counteract environmental forces while remaining on the paths. As a side result, we provide some modifications and give some insights into the weather optimal positioning control design, introduced in [1] for a fully actuated ship model. (Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Group Coordination and Cooperative Control (Lecture Notes in Control and Information Sciences)
volume
336
pages
233 - 250
publisher
Springer
external identifiers
  • wos:000241002300014
  • scopus:33947531373
ISSN
0170-8643
ISBN
978-3-540-33468-2
DOI
10.1007/11505532_14
project
LU Robotics Laboratory
language
English
LU publication?
yes
id
faa5d21e-daa9-49d8-9bd8-e9180a6d1d8d (old id 386771)
date added to LUP
2016-04-01 15:50:18
date last changed
2020-10-07 04:18:10
@inbook{faa5d21e-daa9-49d8-9bd8-e9180a6d1d8d,
  abstract     = {We consider design of coordinating controllers for a fleet of underactuated ships. Each ship is modeled as a mechanical system with 3 degrees of freedom and 2 control inputs, which are the propeller thrust and the angle of the rudder; presence of lumped environmental forces is assumed. The proposed motion planning procedure relies. on properties of an auxiliary explicitly constructed second order dynamical system. We propose a procedure for motion planning for the whole fleet and for design of a coordinating feedback controller, which stabilizes the motion. In the case when geometric paths for ship motions are given, following our approach, we obtain a description of all feasible motions of the fleet along these paths. In addition, it is shown how to design controllers to counteract environmental forces while remaining on the paths. As a side result, we provide some modifications and give some insights into the weather optimal positioning control design, introduced in [1] for a fully actuated ship model.},
  author       = {Shiriaev, A. and Robertsson, Anders and Freidovich, L. and Johansson, Rolf},
  booktitle    = {Group Coordination and Cooperative Control (Lecture Notes in Control and Information Sciences)},
  isbn         = {978-3-540-33468-2},
  issn         = {0170-8643},
  language     = {eng},
  pages        = {233--250},
  publisher    = {Springer},
  title        = {Coordinating control for a fleet of underactuated ships},
  url          = {http://dx.doi.org/10.1007/11505532_14},
  doi          = {10.1007/11505532_14},
  volume       = {336},
  year         = {2006},
}