Print Email Facebook Twitter Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances Title Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances Author Du, Zhe (TU Delft Transport Engineering and Logistics) Negenborn, R.R. (TU Delft Transport Engineering and Logistics) Reppa, V. (TU Delft Transport Engineering and Logistics) Date 2023 Abstract 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. Subject Distributed model-predictive control (MPC)dynamic coordination controlenvironmental disturbancesForceHydrodynamicsmultivessel systemOffshore installationsoffshore platform transportationPredictive controlSea surfaceTrajectoryTransportation To reference this document use: http://resolver.tudelft.nl/uuid:3211024d-9e4b-4935-bcc3-01de3a897008 DOI https://doi.org/10.1109/TCST.2023.3291557 Embargo date 2024-01-18 ISSN 1063-6536 Source IEEE Transactions on Control Systems Technology, 31 (5), 2093-2106 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. Part of collection Institutional Repository Document type journal article Rights © 2023 Zhe Du, R.R. Negenborn, V. Reppa Files PDF Distributed_Dynamic_Coord ... bances.pdf 2.95 MB Close viewer /islandora/object/uuid:3211024d-9e4b-4935-bcc3-01de3a897008/datastream/OBJ/view