Coordinating Control for a Fleet of Underactuated Ships
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 modi.cations and give some insights into the weather optimal positioning control design, introduced in  for a fully actuated ship model.
KeywordsPhase Portrait Motion Planning Inertial Frame Ship Model Ship Motion
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