Accession Number:

ADA535042

Title:

Cooperative Manipulation on the Water Using a Swarm of Autonomous Tugboats

Descriptive Note:

Conference paper

Corporate Author:

NAVAL ACADEMY ANNAPOLIS MD DEPT OF WEAPONS AND SYSTEMS ENGINEERING

Report Date:

2008-05-01

Pagination or Media Count:

7.0

Abstract:

In this paper we present a strategy that allows a swarm of autonomous tugboats to cooperatively move a large object on the water. The two main challenges are 1 the actuators are unidirectional and experience saturation 2 the hydrodynamics of the system are difficult to characterize. The primary theoretical contribution of the paper addresses the first challenge. We present a tracking controller and force allocation strategy that, despite actuator limitations, result in asymptotically convergent tracking for a certain class of reference trajectories. The primary practical contribution is the introduction of a set of adaptive control laws that address the second challenge by compensating for unknown, and difficult to measure, hydrodynamic parameters. Experimental verification of the controllers is presented using a 136 scale model of a U.S. Navy ship, inside the Naval Academys unique 380 ft testing tank.

Subject Categories:

  • Cybernetics
  • Marine Engineering
  • Fluid Mechanics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE