Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances

Journal article (2023)

Authors

Zhe Du Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering

R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering

V. Reppa Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering

Research Group

Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)

DOI: https://doi.org/10.1109/TCST.2023.3291557

Transportation Hydrodynamics Force Trajectory Predictive control Sea surface Distributed model-predictive control (MPC) Dynamic coordination control Environmental disturbances Multivessel system Offshore installations Offshore platform transportation

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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

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.

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