Automatic load maneuvering and hold-back with multiple coordinated DP vessels

Abstract This work intends to propose a high-level control method for use in multiple Dynamic Positioned vessels to perform synchronized motion control while towing floating, unactuated loads connected through cables. The idea consists in usage of a cooperative control structure, in which the vessels share its positions readings through a wireless network while correcting their own relative positions independently through a consensus algorithm. Global formation positioning is achieved through the introduction of a virtual consensus leader and its positions are dynamically corrected to take the cargo to the required positions. Coordinated motions of the formation ensure the load is taken to its set-point. Simulation results for illustrative cases are presented and discussed.