
@article{GENERAL,
      author = {Piaggio, B and Garofano, V and Donnarumma, S and  Alessandri, A and Negenborn, RR and Martelli, M},
      url = {http://library.imarest.org/record/7743},
      journal = {Conference Proceedings of iSCSS},
      title = {Follow-the-Leader Control Strategy for Azimuth Propulsion  System on Surface Vessels},
      abstract = {This paper presents an effective autonomous  follow-the-leader strategy for Azimuthal Stern Drive  vessels.&lt;br&gt;
The control logic has been investigated from a  theoretical point of view. A line-of-sight algorithm is  exploited&lt;br&gt;
to ensure yaw-check ability, while a  speed-check feature is implemented to track the velocity of  the target along&lt;br&gt;
the path. For this purpose, a  linearised manoeuvrability model for azimuthal drive  surface vessels is presented.&lt;br&gt;
A model-based control  synthesis is proposed to ensure the stability of the  closed-loop system and robust PID&lt;br&gt;
controllers are  designed by using Linear Matrix Inequalities technique. The  control strategy has been successively&lt;br&gt;
validated in two  steps, initially by using simulation techniques, and then  experimentally using an outdoor scenario&lt;br&gt;
with model  scale tugs.&lt;br&gt;
The path planning, navigation, guidance and  control modules are studied, detailed, and digitally  implemented&lt;br&gt;
on-board of the model scale tugs. The  models are supplied with GNSS+INS navigation system.  Low-level&lt;br&gt;
management and control of Azimuthals angles  and shaft revolutions is implemented on-board. High-level  decentralised&lt;br&gt;
path planning, guidance, and control  sequence evaluation are dealt with at a remote ground  station.&lt;br&gt;
In particular, the presented follow-the-leader  strategy meets the most generic needs of platooning  convoys,&lt;br&gt;
and, in the specific instance, of Escort  convoy tugs. The operative profile of the latter concerns  long-lasting and&lt;br&gt;
routine chases with the continuous  demand of tuning heading and speed to track the target  vessels, until the rare&lt;br&gt;
occurrence of an emergency  event. In a realistic scenario, the proposed control system  would be beneficial for&lt;br&gt;
the tug master&amp;rsquo;s lucidity  and alertness, while reducing avoidable risks.&lt;br&gt;
At the  end of the paper, the results of the experimental campaign  are shown to demonstrate the effectiveness&lt;br&gt;
of the  proposed control logic.},
      number = {GENERAL},
      recid = {7743},
      address = {2020-10-05},
}