ANZCC 2019 Paper Abstract

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Paper TA1.2

carmona, roberto (Korean Research Institute of Ship and Ocean Engineering), Sung, Hong Gun ( Korean Research Institute of Ship and Ocean Engineering ), Kim, Young Shik ( Korean Research Institute of Ship and Ocean Engineering )

Trajectory Tracking for Vessels with the Kinematic Model Using Complex Networks

Scheduled for presentation during the Regular Session "Complex and Nonlinear Systems" (TA1), Thursday, November 28, 2019, 10:30−10:45, WZ Building Room WZ416

2019 Australian & New Zealand Control Conference (ANZCC), November 27-29, 2019, Auckland, New Zealand

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Complex Systems, Consensus, Motion Control

Abstract

In this work, we study the trajectory synchronization for vessel networks applying complex dynamic networks theory. The network nodes were modeled by the kinematic equation in the horizontal plane, without considering environmental disturbances. To solve the trajectory synchronization problem, first the error synchronization is calculated as the difference between both vesselís trajectories; secondly, to achieve the trajectory synchronization in the vessel network this error must converge to zero. The error convergence is proven by the Lyapunov analysis proposed in the present work. The control law design for this method is determined by the structural network properties, as well as the dynamic characteristics in the nodes, based on the simple choice of a coupling constant. One of the advantages of this method is the study of the coordinated motion between the vessels through the linear systems analysis. To maintain the separation distance between the ship trajectories a repulsion coefficient is added into the control law. Furthermore, numerical simulations are carried out using Matlab, showing a fast convergence on the error synchronization on the network. Finally, the obtained results in the present work, suggest the use of this method to solve the trajectory tracking problem where the nodes include the dynamic equation for the vessel networks.

 

 

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