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Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel
Author(s) -
Feemster Matthew G.,
Esposito Joel M.
Publication year - 2010
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20369
Subject(s) - trajectory , thrust , actuator , control theory (sociology) , control engineering , controller (irrigation) , tracking (education) , dynamic positioning , engineering , field (mathematics) , computer science , control (management) , marine engineering , aerospace engineering , artificial intelligence , psychology , agronomy , pedagogy , physics , astronomy , biology , mathematics , pure mathematics
In this paper, we present a comprehensive trajectory tracking framework for cooperative manipulation scenarios involving marine surface ships. Our experimental platform is a small boat equipped with six thrusters, but the technique presented here can be applied to a multiship manipulation scenario such as a group of autonomous tugboats transporting a disabled ship or unactuated barge. The primary challenges of this undertaking are as follows: (1) the actuators are unidirectional and experience saturation; (2) the hydrodynamics of the system are difficult to characterize; and (3) obtaining acceptable performance under field conditions (i.e., global positioning system errors, wind, waves, etc.) is arduous. To address these issues, we present a framework that includes trajectory generation, tracking control, and force allocation that, despite actuator limitations, results in asymptotically convergent trajectory tracking. In addition, the controller employs an adaptive feedback law to compensate for unknown—difficult to measure—hydrodynamic parameters. Field trials are conducted utilizing a 3‐m vessel in a nearby estuary. © 2010 Wiley Periodicals, Inc. * This article is a US Government work and, as such, is in the public domain of the United States of America.