Leaderless Consensus of Heterogeneous Multiple Euler-Lagrange Systems With Unknown Disturbance

This article studies the leaderless consensus problem of heterogeneous multiple networked Euler-Lagrange systems subject to persistent disturbances with unknown constant biases, amplitudes, initial phases, and frequencies. The main characteristic of this study is that none of the agents has information of a common reference model or of a...

Cooperative Passivity-Based Control of Nonlinear Mechanical Systems

In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types. The underlying passivity property of our control approaches ensures that cooperation is...

Cooperative Control of Autonomous Multi-Vessel Systems for Floating Object Manipulation

This thesis provides a set of cooperative control schemes for autonomous multi-vessel systems to manipulate a floating object through physical interconnections in onshore (inland waterways and ports) and offshore areas. Thanks to the maturity and popularity of the advancing technologies in information, communication, sensors, automatic control,...

Design of Automated R2C Cars for Cooperative Driving Experiments

Cooperative driving controllers are becoming interesting subjects for future research in automated driving with the increase in connectivity. Using true-scale<br/>autonomous vehicles to properly test new control algorithms can be a challenge<br/>due to three main factors: costs, safety, and space requirements. To overcome<br/>these problems,...

Distributed formation control of networked mechanical systems

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a...

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

This paper proposes a multi-objective cooperative control method for a ship-towing system in congested water traffic environments. The control objectives are to coordinate multiple autonomous tugboats for transporting a ship to: (i) follow the waypoints, (ii) adjust the heading, (iii) track the speed profile, and (iv) resolve collisions. The...

COLREGS-Compliant collision avoidance for physically coupled multi-vessel systems with distributed MPC

This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a restricted water traffic environment ensuring collision avoidance while being compliant with maritime regulation called COLREGS. The complex problem is cooperatively solved by addressing three sub-optimization problems. The first is to optimize the...

Multi-vessel cooperative speed regulation for ship manipulation in towing scenarios

This paper proposes a multi-agent control scheme for multiple physically interconnected tugboats performing a ship towing process. These tugs are coordinated by two control layers. In the higher layer, the supervisory controller outputs the desired towing forces and reference trajectories for the tugs. This information is used by a tug's...

Cooperative multi-agent control for autonomous ship towing under environmental disturbances

Among the promising application of autonomous surface vessels (ASVs) is the utilization of multiple autonomous tugs for manipulating a floating object such as an oil platform, a broken ship, or a ship in port areas. Considering the real conditions and operations of maritime practice, this paper proposes a multi-agent control algorithm to...

Cooperative control of autonomous tugs for ship towing

Autonomous surface vehicles (ASVs) are seeing a significant development over the last decade. In recent years, their commercial applications are attracting the attention of many companies. One of the promising subjects is to develop autonomous tugs for ship berthing. This paper focuses on the cooperative control of autonomous tugs for ship...

Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects

In this work we consider the problem of cooperative formation control between heterogeneous agents when time-varying delays and/or packet loss are present. Specifically, we introduce a control law for nonlinear fully actuated mechanical agents that separates the cooperative coordinates from the local coordinates, which removes the necessity for...

Automatic synthesis of supervisory control systems

Sequential composition is an effective supervisory control method for addressing control problems in nonlinear dynamical systems. It executes a set of controllers sequentially to achieve a control specification that cannot be realized by a single controller. Sequential composition focuses on the interaction between a collection of pre-designed...