Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances
文献类型：期刊论文
| 作者 | Zhe Du; Rudy R. Negenborn; Vasso Reppa |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:8页码:1365-1379 |
| 关键词 | Cooperative control environmental disturbances multiple autonomous vessels robust control ship towing |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2021.1004078 |
| 英文摘要 | 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 manipulate a ship to a desired position with a desired heading and velocity under the environmental disturbances. The control architecture consists of a supervisory controller in the higher layer and tug controllers in the lower layer. The supervisory controller allocates the towing forces and angles between the tugs and the ship by minimizing the error in the position and velocity of the ship. The weight coefficients in the cost function are designed to be adaptive to guarantee that the towing system functions well under environmental disturbances, and to enhance the efficiency of the towing system. The tug controller provides the forces to tow the ship and tracks the reference trajectory that is computed online based on the towing angles calculated by the supervisory controller. Simulation results show that the proposed algorithm can make the two autonomous tugs cooperatively tow a ship to a desired position with a desired heading and velocity under the (even harsh) environmental disturbances. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/44589]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Zhe Du,Rudy R. Negenborn,Vasso Reppa. Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(8):1365-1379. |
| APA | Zhe Du,Rudy R. Negenborn,&Vasso Reppa.(2021).Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances.IEEE/CAA Journal of Automatica Sinica,8(8),1365-1379. |
| MLA | Zhe Du,et al."Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances".IEEE/CAA Journal of Automatica Sinica 8.8(2021):1365-1379. |
入库方式： OAI收割
来源：自动化研究所
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