Synchronization Motion Tracking Control of Multiple Underactuated Ships with Collision Avoidance
MetadataShow full item record
© 2016 IEEE.This paper presents a constructive method to design distributed controllers that force a group of N underactuated ships under sea loads to perform a desired synchronization motion tracking task and guarantee no collisions between the ships. First, an observer is designed to globally exponentially estimate the sea loads. Then, the ship dynamics is transformed to an almost spherical form. Smooth or p-times differentiable step functions are next introduced to ensure that the collision avoidance is only active when the ships are in their collision detection zones. For each ship, a dynamical variable is introduced to deal with relaxation of the reference path generation and difficulties caused by underactuation. The control design is based on the above developments, and Lyapunov and backstepping methods. The effectiveness of the proposed results is illustrated through simulations.
Showing items related by title, author, creator and subject.
Travanca, J.; Hao, Hong (2015)Ship collisions with offshore structures may be characterized by large amounts of kinetic energy that can be dissipated as strain energy in either the ship, or the installation, or shared by both. In this paper a series ...
Travanca, J.; Hao, Hong (2014)Both the maritime traffic and the number of built offshore platforms have been continuously increasing over recent times. Among the structures built offshore, the fixed type constitutes the majority. The consequent diversity ...
Do, Khac Duc (2011)This paper presents a constructive method to design cooperative controllers that force a group of N underactuated ships with limited sensing ranges to perform a desired formation, and guarantee no collisions between the ...