Coordinating control for a fleet of underactuated ships
2006 (English)In: GROUP COORDINATION AND COOPERATIVE CONTROL, 2006, 233-250 p.Conference paper (Refereed)
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  for a fully actuated ship model.
Place, publisher, year, edition, pages
2006. 233-250 p.
, LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, ISSN 0170-8643 ; 336
IdentifiersURN: urn:nbn:se:umu:diva-88135ISI: 000241002300014ISBN: 3-540-33468-8OAI: oai:DiVA.org:umu-88135DiVA: diva2:713669
Workshop on Group Coordination and Cooperative Control, MAY 28-30, 2006, Tromso, NORWAY