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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| FullText | Links: – Type: pdflink Text: Availability: 1 |
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| Header | DbId: enr DbLabel: Energy & Power Source An: 193438242 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: A Hierarchical Cooperative Control Framework for Shipboard Boarding Systems Based on Dynamic Positioning Feedforward. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Tan%2C+Lun%22">Tan, Lun</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Chen%2C+Chaohe%22">Chen, Chaohe</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Yan%2C+Xinkuan%22">Yan, Xinkuan</searchLink><relatesTo>2,3</relatesTo> (AUTHOR)<i> yanxk_scut2024@163.com</i><br /><searchLink fieldCode="AR" term="%22Chen%2C+Boxuan%22">Chen, Boxuan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Fang%2C+Jianhu%22">Fang, Jianhu</searchLink><relatesTo>2,3</relatesTo> (AUTHOR) – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Energies+%2819961073%29%22">Energies (19961073)</searchLink>. Apr2026, Vol. 19 Issue 8, p1902. 28p. – Name: Subject Label: Subject Terms Group: Su Data: *<searchLink fieldCode="DE" term="%22Dynamic+positioning+systems%22">Dynamic positioning systems</searchLink><br />*<searchLink fieldCode="DE" term="%22Cooperative+control+systems%22">Cooperative control systems</searchLink><br />*<searchLink fieldCode="DE" term="%22Offshore+wind+power+plants%22">Offshore wind power plants</searchLink><br />*<searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink><br />*<searchLink fieldCode="DE" term="%22Kalman+filtering%22">Kalman filtering</searchLink><br />*<searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] |
| PLink | https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=enr&AN=193438242 |
| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.3390/en19081902 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 28 StartPage: 1902 Subjects: – SubjectFull: Dynamic positioning systems Type: general – SubjectFull: Cooperative control systems Type: general – SubjectFull: Offshore wind power plants Type: general – SubjectFull: Feedback control systems Type: general – SubjectFull: Kalman filtering Type: general – SubjectFull: Parallel robots Type: general Titles: – TitleFull: A Hierarchical Cooperative Control Framework for Shipboard Boarding Systems Based on Dynamic Positioning Feedforward. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Tan, Lun – PersonEntity: Name: NameFull: Chen, Chaohe – PersonEntity: Name: NameFull: Yan, Xinkuan – PersonEntity: Name: NameFull: Chen, Boxuan – PersonEntity: Name: NameFull: Fang, Jianhu IsPartOfRelationships: – BibEntity: Dates: – D: 15 M: 04 Text: Apr2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 19961073 Numbering: – Type: volume Value: 19 – Type: issue Value: 8 Titles: – TitleFull: Energies (19961073) Type: main |
| ResultId | 1 |
