Title :
A centralized control strategy for a mobile off-shore base
Author :
Spry, Stephen ; Hedrick, Karl
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
We study the problem of controlling a mobile off-shore base (MOB). After examining some special features of the system equations for the MOB group, we propose a centralized `leaderless´ control scheme and discuss its performance potential relative to a decentralized `follow-the-leader´ control. The proposed control scheme appears to offer significant performance advantages while remaining simple and robust
Keywords :
centralised control; marine systems; optimal control; position control; stability; state-space methods; centralized control; energy optimal control; leaderless control; mobile off-shore base; position control; stability; state space model; Centralized control; Connectors; Control systems; Drag; Motion control; Nonlinear control systems; Nonlinear equations; Sprites (computer); Velocity control; Weight control;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.783616
