Control system design for vessel towing system by activating rudders of the towed vessel

Lee, Dong-Hun; Chakir, Soumayya; Kim, Young-Bok; Quân, Trần Đức

doi:10.1016/j.ijnaoe.2020.11.008

Cited by 11 publications

(3 citation statements)

References 19 publications

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“…The ship models that were used in the simulations were scale models that have been presented in previous experimental studies [2,3,17]. Their specifications are shown in Table 1.…”

Section: Simulationsmentioning

confidence: 99%

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Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Lee

Huynh

Kim

et al. 2022

JMSE

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Barge ships are designed to transport and assemble heavy and massive pieces of equipment at sea. Active propulsion systems are not installed in this type of ship, so the desirable motion and positioning of these ships can only be achieved with the assistance of several tugboats. In this study, the dynamical characteristics of barge conveying systems were formulated and robust control systems were designed to ensure efficient barge operation. To achieve these objectives, we first developed a mathematical model of a barge ship, which incorporated a novel conveying system configuration using tugboats. We then designed a robust controller for the tugboats that used the sliding mode law to deliver the desired barge motion performance. Finally, the usefulness of the proposed configuration and controller was verified via simulation studies using another system with an H∞ controller. The proposed sliding mode controller showed superiority, especially in terms of robustness against disturbances.

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“…The ship models that were used in the simulations were scale models that have been presented in previous experimental studies [2,3,17]. Their specifications are shown in Table 1.…”

Section: Simulationsmentioning

confidence: 99%

“…Numerous studies have been conducted on the automatic control of ship motion via DPSs using tugboats. For example, a control method for towing vessels using single tugboats has been proposed [1][2][3]. These authors considered scenarios in which vessels were lost or could not use their propulsion systems, so needed towing by tugboats.…”

Section: Introductionmentioning

confidence: 99%

Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Lee

Huynh

Kim

et al. 2022

JMSE

Self Cite

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“…Existing proposals vary from a single tug to a maximum of six 2 of 17 cooperating, as shown in Figure 1. Lee et al [5] proposed the use of a single tugboat to tow a vessel via a towing line and move it in a tight space. The vessel has no propulsion but is equipped with passive actuation mechanisms like rudders.…”

Section: Introductionmentioning

confidence: 99%

Control System Design for Offshore Floating Platform Transportation by Combination of Towing and Pushing Tugboats

Huynh,

Kim

2024

JMSE

Self Cite

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This study investigates the automated transportation control problem of an offshore floating platform that has limited or no maneuverability. The proposed solution involves two tugboats pushing into the platform and two other tugs towing it in the opposite direction. By implementing cooperative control of these tugs, the desired planar motion of the platform is achieved. For this, the proposed control consists of the following components: (1) an observer estimates the environmental disturbances, (2) a platform motion controller acts as the supervisory control, (3) an optimal constrained allocation distributes the required actions over the tugboats, and (4) the tugboats’ controller derived the control inputs of the tugs to fulfill these requirements. Simulation studies are conducted where the proposed solution is compared to one based on the robust H∞ control framework. The results prove the efficiency and robustness of the proposed system.

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Review of floating object manipulation by autonomous multi-vessel systems

Negenborn

Reppa

2023

Annual Reviews in Control

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Control system design for vessel towing system by activating rudders of the towed vessel

Cited by 11 publications

References 19 publications

Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Motion Control System Design for Barge-Type Surface Ships Using Tugboats

Control System Design for Offshore Floating Platform Transportation by Combination of Towing and Pushing Tugboats

Review of floating object manipulation by autonomous multi-vessel systems

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