Positioning of Large Surface Vessels using Multiple Tugboats

Abstract

In this paper, the positioning of large surface vessels using multiple, autonomous tugboats is investigated. Specifically, the paper investigates the development of two control strategies: (1) an adaptive position controller that compensates for select system parameters such as mass and drag coefficients and also for an unknown thrust configuration matrix that is the result of unknown tugboat locations and (2) a robust position control strategy that does not require transmission of information between the tugs. The control design for (2) is facilitated by strategic placement of the tugs about the vessel hull such that the resulting thrust matrix is upper triangular. Performance of both controllers is investigated by simulations for a scaled model of a surface vessel.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA462615

Entities

People

  • Darren M. Dawson
  • David Braganza
  • M. Feemster

Organizations

  • Clemson University

Tags

Communities of Interest

  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Coefficients
  • Communication Networks
  • Control Systems
  • Drag
  • Engineering
  • Neural Networks
  • Orientation (Direction)
  • Simulations
  • Surfaces
  • Systems Engineering
  • Thrust
  • Thrust Control
  • Unidirectional
  • United States Naval Academy
  • Universities

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Control Systems Engineering.
  • Naval Architecture and Marine Engineering.