Abstract
This paper proposes a novel dynamic coordination control scheme for a physically connected multi-vessel towing system to transport an offshore platform. The transportation process is executed by four tugboats, and each of them has a leading or following role. To render the transportation faster, the roles of the tugboats can be switched in the towing process. The dynamic coordination decision mechanism is designed to allocate in real-time a combination of roles to the tugs by comparing the position and heading of the offshore platform to the next waypoint position. A control allocation strategy is developed to optimally control the position and heading of the tugboats considering multiple constraints. The reference trajectory of the tugboats is dynamically calculated based on the assigned role of each tugboat. A simulation experiment indicates that the proposed control scheme can enhance the maneuver-ability of the physically connected multi-vessel towing system and increase the efficiency of offshore platform transportation.
| Original language | English |
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| Title of host publication | Proceedings 2022 IEEE Conference on Control Technology and Applications, CCTA 2022 |
| Publisher | IEEE |
| Pages | 76-81 |
| ISBN (Electronic) | 978-1-6654-7338-5 |
| DOIs | |
| Publication status | Published - 2022 |
| Event | 2022 IEEE Conference on Control Technology and Applications, CCTA 2022 - Trieste, Italy Duration: 23 Aug 2022 → 25 Aug 2022 |
Conference
| Conference | 2022 IEEE Conference on Control Technology and Applications, CCTA 2022 |
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| Country/Territory | Italy |
| City | Trieste |
| Period | 23/08/22 → 25/08/22 |
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-careOtherwise 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.