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Coordinating control for a fleet of underactuated ships
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering (NTNU), Robotics and Control Lab (Umeå University))
Department of Automatic Control, LTH, Lund University.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)ORCID iD: 0000-0003-0730-9441
Department of Automatic Control, LTH, Lund University.
2006 (English)In: GROUP COORDINATION AND COOPERATIVE CONTROL, 2006, 233-250 p.Conference paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2006. 233-250 p.
National Category
Control Engineering
URN: urn:nbn:se:umu:diva-88135ISI: 000241002300014ISBN: 3-540-33468-8OAI: diva2:713669
Workshop on Group Coordination and Cooperative Control, MAY 28-30, 2006, Tromso, NORWAY
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-04-23

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Shiriaev, AntonFreidovich, Leonid
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