|Distributed dynamic coordination control for offshore platform transportation under ocean environmental disturbances
|Z. Du, R.R. Negenborn, V. Reppa
|IEEE Transactions on Control Systems Technology
|Transportation of a large offshore platform from inland waters to the open sea is a hazardous and challenging mission. With the development of the autonomous surface vessel (ASV), the problem of large floating object transportation has a chance to be solved by applying multiple physical-connected autonomous tugboats. This paper proposes a distributed dynamic coordination control scheme for a multi-vessel autonomous towing system to transport an offshore platform under environmental disturbances. Where the dynamic coordination decision mechanism is based on the relative position of the two neighbor waypoints, the controllers are designed based on the multilayer Model Predictive Control (MPC) strategy with several specific cost functions, and the distributed control architecture is
built based on the Alternating Direction Method of Multipliers (ADMM) with augmented Lagrangian function. The simulation experiment indicates that the proposed control scheme has better consensus achievement for the distributed control architecture accomplishment and more efficiently transports an offshore platform under environmental disturbances.
|Distributed dynamic coordination control for offshore platform transportation under ocean environmental disturbances. Z. Du, R.R. Negenborn, V. Reppa. IEEE Transactions on Control Systems Technology, vol. 31, no. 5, pp. 2093-2106, September 2023.
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