Year: 2025
Type: article
Abstract: This paper introduces a novel approach to modeling and control system design for tugboat-assisted operations, such as docking and rescuing marine vessels. The control objective is to ensure effective positioning and movement of the vessels while maintaining overall system stability, even in the presence of system uncertainties, imperfect control allocation, and ocean disturbances. First, a mathematical model of a general tugboat-assisted system is derived. Second, a new vector of variables is introduced, leading to a modified model representation where the mismatches from the allocation and lower-level tugboat controllers can be realized in the vessel’s motion equation. Thus, the design of a supervisory controller for the vessel can take this aspect into account to enhance the overall system’s performance and stability. Then, a control system design method is proposed, employing a centralized control framework and ensuring a mixed H₂/H∞ performance criterion. Finally, a case study is conducted with a particular tugboat-assisted configuration and the results validate the effectiveness of the control solution.
DOI: 10.3390/jmse13040804
Authors: Jung-Suk Park, Tan-Ngoc Nguyen, Cao-Tri Dinh, Thinh Huynh, Young-Bok Kim
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
Awards: G5497923885, G6612264389
OpenAlex ID: W4409544877