Hybrid control in Sea Traffic Management Systems
Increasing traffic on highways and in the air has in the recent years motivated the design of hierarchical hybrid control systems. In this paper we will propose a hierarchical hybrid control system for the control of traffic on sea, a Sea Traffic Management System (STMS). The motivation is to reduce delays and improve the efficiency and safety in increasingly overcrowded harbors, busy straits and narrow areas on sea. A controller unit on land plans the whole traffic scenario, and interacts with advanced (hybrid) autopilots placed on each ship. A system as described above should take advantage of the new available technology, such as satellite based navigation (GPS-systems), digital sea maps, faster and more powerful computers, and more and better actuators.
KeywordsHierarchical Hybrid Control Sea Traffic Management Autopilot
Unable to display preview. Download preview PDF.
- Balchen, J. G., Jenssen, N. A., Sælid, S.: Dynamic Positioning of Floating Vessels Based on Kaiman Filtering and Optimal Control. Proceedings of the 19th IEEE Conference on Decision and Control (1980) 852–864.Google Scholar
- Branicky, M. S.: Stability of Switched and Hybrid Systems. Proc. of the IEEE Conf. Decision and Control (1994) 3498–3503.Google Scholar
- Dubins, L.E.: On curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents. American Journal of Mathematics, 79:497–516 (1957).Google Scholar
- Fossen, T. I.: Guidance and Control of Ocean Vehicles. John Wiley and Sons Ltd. (1994).Google Scholar
- Murray, R. M., M'Closkey, R. T.: Exponential Stabilization of Driftless Nonlinear Control Systems using Homogeneous Feedback. CDS, Tech. Report nr 95-012, Caltech (1995).Google Scholar
- Sastry, S., Meyer, G., Tomlin, C., Lygeros, J., Godbole, D., Pappas, G.: Hybrid Control in Air Traffic Management Systems. UC Berkeley Memo UCB/ERL M95/82 October 1995.Google Scholar
- Walsh, G., Tilbury, D., Sastry, S., Murray, R., and Laumond, J.-P.: Stabilization of Trajectories for Systems with Nonholonomic Constraints. IEEE Transactions on Automatic Control, January, 1994.Google Scholar