A Hierarchical Cooperative Control Framework for Shipboard Boarding Systems Based on Dynamic Positioning Feedforward.
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| Title: | A Hierarchical Cooperative Control Framework for Shipboard Boarding Systems Based on Dynamic Positioning Feedforward. |
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| Authors: | Tan, Lun1 (AUTHOR), Chen, Chaohe1,2 (AUTHOR), Yan, Xinkuan2,3 (AUTHOR) yanxk_scut2024@163.com, Chen, Boxuan1 (AUTHOR), Fang, Jianhu2,3 (AUTHOR) |
| Source: | Energies (19961073). Apr2026, Vol. 19 Issue 8, p1902. 28p. |
| Subject Terms: | *Dynamic positioning systems, *Cooperative control systems, *Offshore wind power plants, *Feedback control systems, *Kalman filtering, *Parallel robots |
| Abstract: | Offshore wind turbine operation and maintenance in complex sea states is influenced by the coupled effects of low-frequency vessel drift and high-frequency wave-induced disturbances. In practical operations, the ship dynamic positioning system primarily regulates low-frequency motion through vessel position control, whereas a boarding compensation system is required to attenuate high-frequency six-degrees-of-freedom motions to ensure safe personnel transfer. This study establishes coupled kinematic mapping among the ship dynamic positioning system, the Stewart platform, and a three-degrees-of-freedom gangway and proposes a hierarchical cooperative control architecture. At the upper layer, an extended Kalman filter and an exponential moving average low-pass filter are employed for online state estimation and for separating low-frequency and high-frequency components. A Kalman filter lookahead predictor is then used to generate a short-horizon prediction of the high-frequency component and to construct a feedforward reference signal. At the middle layer, the feedforward reference and the gangway end error feedback are coordinated at the velocity level, and a quadratic programming-based allocation strategy distributes compensation tasks between the Stewart platform and the gangway under safety-related constraints, including actuator stroke limits and singularity avoidance. At the lower layer, a robust feedback controller is designed for the gangway to mitigate modeling uncertainties and environmental disturbances and to ensure stable tracking. MATLAB R2024a-based simulations under representative wave conditions demonstrate that the proposed architecture improves end effector tracking accuracy and closed-loop stability compared with baseline strategies, providing a feasible engineering solution for shipboard boarding operations in complex sea states. [ABSTRACT FROM AUTHOR] |
| Database: | Energy & Power Source |
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| Abstract: | Offshore wind turbine operation and maintenance in complex sea states is influenced by the coupled effects of low-frequency vessel drift and high-frequency wave-induced disturbances. In practical operations, the ship dynamic positioning system primarily regulates low-frequency motion through vessel position control, whereas a boarding compensation system is required to attenuate high-frequency six-degrees-of-freedom motions to ensure safe personnel transfer. This study establishes coupled kinematic mapping among the ship dynamic positioning system, the Stewart platform, and a three-degrees-of-freedom gangway and proposes a hierarchical cooperative control architecture. At the upper layer, an extended Kalman filter and an exponential moving average low-pass filter are employed for online state estimation and for separating low-frequency and high-frequency components. A Kalman filter lookahead predictor is then used to generate a short-horizon prediction of the high-frequency component and to construct a feedforward reference signal. At the middle layer, the feedforward reference and the gangway end error feedback are coordinated at the velocity level, and a quadratic programming-based allocation strategy distributes compensation tasks between the Stewart platform and the gangway under safety-related constraints, including actuator stroke limits and singularity avoidance. At the lower layer, a robust feedback controller is designed for the gangway to mitigate modeling uncertainties and environmental disturbances and to ensure stable tracking. MATLAB R2024a-based simulations under representative wave conditions demonstrate that the proposed architecture improves end effector tracking accuracy and closed-loop stability compared with baseline strategies, providing a feasible engineering solution for shipboard boarding operations in complex sea states. [ABSTRACT FROM AUTHOR] |
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| ISSN: | 19961073 |
| DOI: | 10.3390/en19081902 |
