A survey on modeling and control of thruster-assisted position mooring systems

Skjetne, Roger; Ren, Zhengru

doi:10.1016/j.marstruc.2020.102830

Cited by 15 publications

(7 citation statements)

References 50 publications

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“…Environmental disturbances are not considered. The vessel is represented by a 3 degree of freedom (DOF) maneuvering model [39], with motion restricted to the horizontal plane. The ship heading is referred to as yaw, while longitudinal and lateral motion is referred to as surge and sway, respectively.…”

Section: A Vessel Modelmentioning

confidence: 99%

A Guidance and Maneuvering Control System Design with Anti-collision Using Stream Functions with Vortex Flows for Autonomous Marine Vessels

Zhou,

Ren,

Marley

et al. 2021

Preprint

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Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids is used as a guidance model, where the collision avoidance in static environments is achieved by applying the circular theorem in the sink flow. We extend this method to dynamic environments by adding vortex flows in the flow field. The stream function is recursively updated to enable "on the fly" waypoint decisions. The vessel avoids collisions and also complies with several rules of the Convention on the International Regulations for Preventing Collisions at Sea. The method is conceptually and computationally simple and convenient to tune, and yet versatile to handle complex and dense marine traffic with multiple dynamic obstacles. The ship dynamics are taken into account, by using Bézier curves to generate a sufficiently smooth path with feasible curvature. Numerical simulations are conducted to verify the proposed method.

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Section: A Vessel Modelmentioning

confidence: 99%

A Guidance and Maneuvering Control System Design with Anti-collision Using Stream Functions with Vortex Flows for Autonomous Marine Vessels

Zhou,

Ren,

Marley

et al. 2021

Preprint

Self Cite

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“…The offshore structures, relying only on a mooring system or a dynamic positioning system, can no longer meet the needs of safe and economic development of arctic resources (Li, 2012). The position mooring system exploits the capacity of mooring cables to reduce vessel energy consumption and adopts the dynamic positioning system to improve cable safety (Skjetne and Ren, 2020). It provides an effective solution for arctic exploration from both safety and energy efficiency perspectives (Sangsoo and Kim, 2003).…”

Section: Introductionmentioning

confidence: 99%

“…Nevertheless, it is insufficient to reduce the control effort to take into account only one critical cable with minimal structural reliability. Considering all mooring cables, a setpoint chasing algorithm is proposed to minimize thruster usage and maximize the utilization of the mooring system (Skjetne and Ren, 2020). Nguyen and Sørensen (2009a,b) proposed the setpoint chasing algorithm in the form of a lowfrequency filter to compensate for the mean environmental load.…”

Section: Introductionmentioning

confidence: 99%

Structural reliability based energy-efficient arctic position mooring control of moored offshore structures under ice loads

2023

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“…In an oceanic environment, [14] designs a boundary control strategy to restrain transverse vibration in a flexible marine riser, taking into account input saturation. Additionally, [15] presents an adaptive control approach for a thruster-assisted position mooring system, specifically addressing transverse vibrations.…”

Section: Introductionmentioning

confidence: 99%

PDE modelling and switch strategy controller design for a flexible detection system with output constraint and actuator failure

Li,

Cao,

Huang

et al. 2023

J. Phys.: Conf. Ser.

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A novel approach for modelling a mine detection robot system is presented in this paper using partial differential equations and Hamilton’s principle. The system comprises a rigid arm, a detecting sensor module, and a flexible string. The paper addresses the challenges of boundary deflection constraint and actuator fault. To overcome these challenges, a unique controller is developed using Barrier Lyapunov function and switching strategy. This controller enables the robot system to achieve the desired position and eliminate the vibration of flexible string. The superiority of the designed control law is demonstrated through simulation results. Furthermore, the asymptotic stability of the closed-loop flexible system is established by the use of extending LaSalle’s Invariance principle to an infinite dimensional system. This principle ensures that the system will eventually reach a stable state over time.

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A survey on modeling and control of thruster-assisted position mooring systems

Cited by 15 publications

References 50 publications

A Guidance and Maneuvering Control System Design with Anti-collision Using Stream Functions with Vortex Flows for Autonomous Marine Vessels

A Guidance and Maneuvering Control System Design with Anti-collision Using Stream Functions with Vortex Flows for Autonomous Marine Vessels

Structural reliability based energy-efficient arctic position mooring control of moored offshore structures under ice loads

PDE modelling and switch strategy controller design for a flexible detection system with output constraint and actuator failure

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