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Coordinating Control for a Fleet of Underactuated Ships

  • A. Shiriaev
  • A. Robertsson
  • L. Freidovich
  • R. Johansson
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 336)

Abstract

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 [1] for a fully actuated ship model.

Keywords

Phase Portrait Motion Planning Inertial Frame Ship Model Ship Motion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin/Heidelberg 2006

Authors and Affiliations

  • A. Shiriaev
    • 1
  • A. Robertsson
    • 2
  • L. Freidovich
    • 1
  • R. Johansson
    • 2
  1. 1.Department of Applied Physics and Electronics University of Umeå, SE-901 87 UmeåSweden
  2. 2.Department of Automatic Control, LTH, Lund University PO Box 118, SE-221 00 LundSweden

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