000007743 001__ 7743
000007743 005__ 20240626123055.0
000007743 02470 $$2doi$$a10.24868/issn.2631-8741.2020.004
000007743 035__ $$a4467969
000007743 037__ $$aGENERAL
000007743 245__ $$aFollow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels
000007743 269__ $$a2020-10-05
000007743 336__ $$aConference Proceedings
000007743 520__ $$aThis paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels.<br>
The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited<br>
to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along<br>
the path. For this purpose, a linearised manoeuvrability model for azimuthal drive surface vessels is presented.<br>
A model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID<br>
controllers are designed by using Linear Matrix Inequalities technique. The control strategy has been successively<br>
validated in two steps, initially by using simulation techniques, and then experimentally using an outdoor scenario<br>
with model scale tugs.<br>
The path planning, navigation, guidance and control modules are studied, detailed, and digitally implemented<br>
on-board of the model scale tugs. The models are supplied with GNSS+INS navigation system. Low-level<br>
management and control of Azimuthals angles and shaft revolutions is implemented on-board. High-level decentralised<br>
path planning, guidance, and control sequence evaluation are dealt with at a remote ground station.<br>
In particular, the presented follow-the-leader strategy meets the most generic needs of platooning convoys,<br>
and, in the specific instance, of Escort convoy tugs. The operative profile of the latter concerns long-lasting and<br>
routine chases with the continuous demand of tuning heading and speed to track the target vessels, until the rare<br>
occurrence of an emergency event. In a realistic scenario, the proposed control system would be beneficial for<br>
the tug master’s lucidity and alertness, while reducing avoidable risks.<br>
At the end of the paper, the results of the experimental campaign are shown to demonstrate the effectiveness<br>
of the proposed control logic.
000007743 542__ $$fCC-BY-4.0
000007743 6531_ $$aFollow-the-Leader
000007743 6531_ $$aTugs
000007743 6531_ $$aAzimuthal Propulsion
000007743 6531_ $$aLine-of-Sight
000007743 6531_ $$aPath-Following
000007743 6531_ $$aPlatooning
000007743 7001_ $$aPiaggio, B$$uDept. of Naval Architecture and Marine, Electrical, Electronic, Telecommunications Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy
000007743 7001_ $$aGarofano, V$$uDepartment of Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands
000007743 7001_ $$aDonnarumma, S$$uDept. of Naval Architecture and Marine, Electrical, Electronic, Telecommunications Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy
000007743 7001_ $$aAlessandri, A$$uDept. of Mechanical, Power, Industrial and Transport Engineering (DIME), Polytechnic School of Genoa University, Genova, Italy
000007743 7001_ $$aNegenborn, RR$$uDepartment of Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands
000007743 7001_ $$aMartelli, M$$uDept. of Naval Architecture and Marine, Electrical, Electronic, Telecommunications Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy
000007743 773__ $$tConference Proceedings of iSCSS
000007743 773__ $$jiSCSS 2020
000007743 789__ $$whttps://zenodo.org/record/4467969$$2URL$$eIsIdenticalTo
000007743 85641 $$uhttps://www.imarest.org/events/inec-2020/iscss-2020$$yConference website
000007743 8564_ $$964af8ed8-51f0-4454-873a-65d555a377fb$$s9657462$$uhttps://library.imarest.org/record/7743/files/iSCSS_2020_Paper_6.pdf