Output Feedback Cooperative Dynamic Positioning Control for an Unactuated Floating Object Using Multiple Vessels

This paper proposes an output feedback cooperative dynamic positioning control scheme for an unactuated floating object using multiple vessels under model uncertainties and environmental disturbances. The floating object is connected to multiple vessels through towlines. At first, nonlinear extended state observers are developed for the floating object and vessels to reconstruct the unmeasured velocity and to estimate the model uncertainties and disturbances. Second, observer-based controllers are designed for the floating object and vessels to drive the floating object to track the reference signal and to achieve the cooperative control of multiple vessels, respectively. The salient features of the proposed control scheme are presented as follows. Firstly, by design the object controller, the tracking performance of the object is improved. Secondly, according to the required force of the floating object, the time-varying formation of vessels is obtained by using the towline attachment geometry of the floating object, control allocation and a towline model. It is shown that all signals in closed-loop system are bounded via Lyapunov analysis. Simulation study is carried out to verify the effectiveness of proposed control method.

[1]  Guoqing Xia,et al.  Neuroadaptive Distributed Output Feedback Tracking Control for Multiple Marine Surface Vessels With Input and Output Constraints , 2019, IEEE Access.

[2]  Roger Skjetne,et al.  Time-Varying Model-Based Observer for Marine Surface Vessels in Dynamic Positioning , 2017, IEEE Access.

[3]  Ton Duc Do,et al.  Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control , 2021, Sensors.

[4]  Hyeung-Sik Choi,et al.  Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration , 2020, Sensors.

[5]  Tuan-Tu Huynh,et al.  Station-Keeping Control of a Hovering Over-Actuated Autonomous Underwater Vehicle Under Ocean Current Effects and Model Uncertainties in Horizontal Plane , 2021, IEEE Access.

[6]  Tor Arne Johansen,et al.  Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming , 2004, IEEE Transactions on Control Systems Technology.

[7]  Jin Xian.  Design of DP controller based on ADRC for semi-submersible platform , 2014 .

[8]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[9]  Guoqing Xia,et al.  Robust Nonlinear Observer And Observer‐Backstepping Control Design For Surface Ships , 2015 .

[10]  Guoqing Xia,et al.  Cooperative Control of Multiple Dynamic Positioning Vessels with Input Saturation Based on Finite-time Disturbance Observer , 2019, International Journal of Control, Automation and Systems.

[11]  Dan Wang,et al.  Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance , 2020, IEEE Transactions on Cybernetics.

[12]  Rudy R. Negenborn,et al.  Distributed Model Predictive Control for cooperative floating object transport with multi-vessel systems , 2019, Ocean Engineering.

[13]  Miroslav Krstic,et al.  Robust dynamic positioning of ships with disturbances under input saturation , 2016, Autom..

[14]  Guangming Xie,et al.  Path following control for towing system of cylindrical drilling platform in presence of disturbances and uncertainties. , 2019, ISA transactions.

[15]  Karl-Petter Lindegaard,et al.  Acceleration Feedback in Dynamic Positioning , 2003 .

[16]  Wang Wei,et al.  Research on Heuristic Mutated Particle Swarm Optimization Algorithm , 2019, 2019 IEEE International Conference on Unmanned Systems (ICUS).

[17]  Thor I. Fossen,et al.  Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel , 1999, Autom..

[18]  Hyeung-Sik Choi,et al.  A study on hovering motion of the underwater vehicle with umbilical cable , 2017 .

[19]  Da-wei Zhao,et al.  Optimal thrust allocation based GA for dynamic positioning ship , 2010, 2010 IEEE International Conference on Mechatronics and Automation.

[20]  Bao-Zhu Guo,et al.  On convergence of tracking differentiator and application to frequency estimation of sinusoidal signals , 2011, 2011 8th Asian Control Conference (ASCC).

[21]  C. L. Philip Chen,et al.  Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[22]  Eduardo A. Tannuri,et al.  Automatic load maneuvering and hold-back with multiple coordinated DP vessels , 2019 .

[23]  Dan Wang,et al.  Cooperative Dynamic Positioning of Multiple Marine Offshore Vessels: A Modular Design , 2016, IEEE/ASME Transactions on Mechatronics.

[24]  Shaocheng Tong,et al.  Adaptive Fuzzy Output Constrained Control Design for Multi-Input Multioutput Stochastic Nonstrict-Feedback Nonlinear Systems , 2017, IEEE Transactions on Cybernetics.

[25]  Nguyen Thanh Phuong,et al.  Perturbation Observer-Based Robust Control Using a Multiple Sliding Surfaces for Nonlinear Systems with Influences of Matched and Unmatched Uncertainties , 2020, Mathematics.