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Hierarchical control of multiple tugboats with constraint-driven model-following control

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Název: Hierarchical control of multiple tugboats with constraint-driven model-following control
Autoři: Satoshi Otsuki, Miki Taya, Kenichi Nakashima, Takeshi Hatanaka
Zdroj: SICE Journal of Control, Measurement, and System Integration, Vol 18, Iss 1 (2025)
Informace o vydavateli: Taylor & Francis Group, 2025.
Rok vydání: 2025
Témata: constraint-driven control, hierarchical control, coordinated control, model-following control, unmanned surface vehicles, Control engineering systems. Automatic machinery (General), TJ212-225
Popis: This paper presents a novel hierarchical control architecture designed for navigating multiple tugboats to perform complex maneuvers, including approaching, enclosing, and capturing a large target vessel, while taking into account external disturbances and operational constraints. The proposed hierarchical control architecture includes a high-level nominal controller for trajectory generation, tracking, and coordination, and a low-level model-following controller for multitask execution. The low-level controller integrates constraint-driven control to refine nominal control inputs generated by the high-level controller, and local control to mitigate disturbances. To achieve multitask execution across all phases, the constraint-driven controller activates only essential constraints, enforcing seamless maneuver transitions without relying on ad-hoc controller switching. Specifically, we design constraints to facilitate effective enclosing behaviour while guiding the tugboat fleet toward the target in formation. We also adopt a so-called Prescribed-Time Safety Filter to enforce mild contact with the surface of the target vessel within a specified finite-time interval. Simulation studies validate the proposed control architecture across all maneuvers throughout the operation and demonstrate its capability to achieve complex multi-tugboat coordination.
Druh dokumentu: article
Popis souboru: electronic resource
Jazyk: English
ISSN: 1884-9970
Relation: https://doaj.org/toc/1884-9970
DOI: 10.1080/18824889.2025.2521907
Přístupová URL adresa: https://doaj.org/article/00d236f34a1a4d5a95db771e71b53ceb
Přístupové číslo: edsdoj.00d236f34a1a4d5a95db771e71b53ceb
Databáze: Directory of Open Access Journals
Popis
Abstrakt:This paper presents a novel hierarchical control architecture designed for navigating multiple tugboats to perform complex maneuvers, including approaching, enclosing, and capturing a large target vessel, while taking into account external disturbances and operational constraints. The proposed hierarchical control architecture includes a high-level nominal controller for trajectory generation, tracking, and coordination, and a low-level model-following controller for multitask execution. The low-level controller integrates constraint-driven control to refine nominal control inputs generated by the high-level controller, and local control to mitigate disturbances. To achieve multitask execution across all phases, the constraint-driven controller activates only essential constraints, enforcing seamless maneuver transitions without relying on ad-hoc controller switching. Specifically, we design constraints to facilitate effective enclosing behaviour while guiding the tugboat fleet toward the target in formation. We also adopt a so-called Prescribed-Time Safety Filter to enforce mild contact with the surface of the target vessel within a specified finite-time interval. Simulation studies validate the proposed control architecture across all maneuvers throughout the operation and demonstrate its capability to achieve complex multi-tugboat coordination.
ISSN:18849970
DOI:10.1080/18824889.2025.2521907