Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances

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Transportation of a large offshore platform from inland waters to the open sea is a hazardous and challenging mission. With the development of the autonomous surface vessel (ASV), the problem of large floating object transportation has a chance to be solved by applying multiple physical-connected autonomous tugboats. This article proposes a distributed dynamic coordination control scheme for a multivessel autonomous towing system to transport an offshore platform under environmental disturbances. Where the dynamic coordination decision mechanism is based on the relative position of the two neighbor waypoints, the controllers are designed based on the multilayer model-predictive control (MPC) strategy with several specific cost functions, and the distributed control architecture is built based on the alternating direction method of multipliers (ADMM) with augmented Lagrangian function. The simulation experiment indicates that the proposed control scheme can achieve better consensus for the distributed control architecture accomplishment and more efficiently transport an offshore platform under environmental disturbances.

Original languageEnglish
Pages (from-to)2093-2106
JournalIEEE Transactions on Control Systems Technology
Issue number5
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Distributed model-predictive control (MPC)
  • dynamic coordination control
  • environmental disturbances
  • Force
  • Hydrodynamics
  • multivessel system
  • Offshore installations
  • offshore platform transportation
  • Predictive control
  • Sea surface
  • Trajectory
  • Transportation

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