A Novel Observer-based Synchronization Control of Ship Rendezvous Operations using Portable Actuators

Intelligent Automation, Inc. in collaboration with Rolls Royce and Michigan Technological University proposes a physical state observer for the larger ship and consequent implementation of synchronization controller for the smaller ship. Toward this end, theoretical results have recently been obtained which were subsequently demonstrated in laboratory experiments. Exponential convergence of the closed-loop errors for position keeping during trajectory tracking was experimentally demonstrated. We plan to further enhance the tracking control using recent results on external synchronization in robotics and analyzing the impact of delayed disturbances on the synchronized ships. No assumptions on the availability of a dynamic model for the larger ship will be made. The advantage of this technique is that the observer requires only position/attitude measurements for both ships. This makes the approach applicable to rendezvous operations with various ships without requiring any tuning or modifications. The research will (i) develop a simulation model for the smaller ship (ii) design an observer-controller combination and drive the observer with available field data (iii) based on design considerations and control analysis, propose the sensors for observation and portable actuators for control action, and their placement (iv) assess the robustness of synchronization in presence of disturbances and ship interactions.