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Robust cooperative trajectory tracking control for an unactuated floating object with multiple vessels system.

Guoqing Xia1, Chuang Sun1, Bo Zhao1

  • 1College of Intelligent Systems Science and Engineering, Harbin Engineering University, 150001 Harbin, China.

ISA Transactions
|June 9, 2021
PubMed
Summary

This study introduces a robust cooperative control system for an unactuated floating object towed by multiple vessels. The innovative approach ensures accurate trajectory tracking despite environmental disturbances and towline dynamics.

Keywords:
Environmental disturbancesRobust cooperative controlTime-varying formationTrajectory trackingUnactuated floating objects

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Ocean Engineering

Background:

  • Unactuated floating objects require sophisticated control for precise trajectory tracking.
  • Cooperative control using multiple vessels presents challenges due to environmental disturbances and complex dynamics.

Purpose of the Study:

  • To develop a robust cooperative trajectory tracking control scheme for an unactuated floating object.
  • To address environmental disturbances and the dynamics of towline connections.

Main Methods:

  • A three-part control scheme: virtual controller for the object, control allocation algorithm for towline tension, and a distributed robust time-varying formation controller for vessels.
  • Utilized dynamic surface control, adaptive laws, and graph theory for vessel control.
  • Incorporated a nonlinear towline model and towline attachment geometry.

Main Results:

  • The proposed control scheme ensures bounded tracking errors for both the object and the vessels.
  • Simulations demonstrate high accuracy in trajectory tracking for the unactuated object.
  • The system exhibits robust cooperative control performance under simulated environmental disturbances.

Conclusions:

  • The developed control strategy effectively achieves robust cooperative trajectory tracking for unactuated floating objects.
  • The method proves capable of managing complex dynamics, including towline interactions and environmental factors.
  • This research offers a reliable solution for controlling towed underwater or surface vehicles.