DocumentCode
343085
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
Volume
2
fYear
1999
fDate
2-4 Jun 1999
Firstpage
1482
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.783616
Filename
783616
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