Coordinating Control for a Fleet of Underactuated Ships
Shiriaev, A. ; Robertsson, Anders LU ; Freidovich, L. and Johansson, Rolf LU
(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:
https://lup.lub.lu.se/record/386771
- author
- Shiriaev, A.
; Robertsson, Anders
LU
; Freidovich, L.
and Johansson, Rolf
LU
- organization
- publishing date
- 2006
- 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
- RobotLab LTH
- 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
- 2023-01-04 19:29:30
@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}},
}