Stability Analysis of a Floating Multirobot Coordinated Towing System Based on the Stability Cone Method

被引：0
|
作者：
Zhao, Xiangtang [1 ]
Zhao, Zhigang [1 ]
Su, Cheng [1 ]
Meng, Jiadong [1 ]
机构：
[1] Lanzhou Jiaotong Univ, Dept Mech Engn, Lanzhou 730070, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND APPLICATION | 2024年
基金：
中国国家自然科学基金;
关键词：
Offshore towing; Kinematic model; Dynamic model; Stability cone method; Stability;
D O I：
10.1007/s11804-024-00460-z
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Currently, the cranes used at sea do not have enough flexibility, efficiency, and safety. Thus, this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing. Because of the flexibility of rope-driven robots, the one-way pulling characteristics of the rope, and the floating characteristics of the base, towing robots are easily overturned. First, the spatial configuration of the towing system was established according to the towing task, and the kinematic model of the towing system was established using the coordinate transformation. Then, the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory. Finally, the stability of the towing system was analyzed using the stability cone method. The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system, which can improve the stability of towing systems by changing the configuration of the towing robot.
引用
收藏
页码：449 / 457
页数：9
相关论文
共 50 条
  • [31] Stability control of automotive hydraulic system based on ABS coordinated control
    Liang, Jianwei
    Wang, Aibing
    Ma, Baoqiu
    Li, Jingli
    DESALINATION AND WATER TREATMENT, 2022, 269 : 295 - 302
  • [32] Stability of Motion of a Tethered System when Towing Spacecraft with Propellant Outage
    V. S. Aslanov
    A. A. Avramenko
    Mechanics of Solids, 2017, 52 : 595 - 604
  • [33] Stability of Motion of a Tethered System when Towing Spacecraft with Propellant Outage
    Aslanov, V. S.
    Avramenko, A. A.
    MECHANICS OF SOLIDS, 2017, 52 (06) : 595 - 604
  • [34] Modeling and analysis of vehicle stability region based on Lyapunov and coordinated control
    Zhang, Minghao
    Wu, Xiaojian
    Liu, Jiansheng
    Wang, Aichun
    Jiang, Huihua
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2024,
  • [35] Power system stability enhancement using ANN based coordinated emergency control system
    Etingov, Pavel
    Oudalov, Alexandre
    Voropai, Nikolai
    Cherkaoui, Rachid
    Germond, Alain
    2007 IEEE LAUSANNE POWERTECH, VOLS 1-5, 2007, : 232 - +
  • [36] Stability Analysis Uncertain System with Time Delay Based on Stability Margin
    Xie Yong Fang
    Chen Yao
    Yu Shou Yi
    Wang Ya Lin
    PROCEEDINGS OF THE 2012 24TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2012, : 2342 - 2345
  • [37] The stability analysis of the coordinated hybrid agent framework
    Li, H
    Karray, F
    Basir, O
    Song, I
    2005 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL & 13TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2, 2005, : 429 - 434
  • [38] Voltage Stability Analysis and Coordinated Power Recovery Control Strategy of MIDC System
    Feng, Ming
    Zheng, Li
    Zhang, Lei
    Zhang, Bo
    2020 5TH ASIA CONFERENCE ON POWER AND ELECTRICAL ENGINEERING (ACPEE 2020), 2020, : 381 - 385
  • [39] STABILITY ANALYSIS OF FLOATING AND SUBMERGED ICE FLOES
    ASHTON, GD
    JOURNAL OF THE HYDRAULICS DIVISION-ASCE, 1978, 104 (03): : 455 - 457
  • [40] Stability Analysis, Testing and Realization of a Floating Target
    Das, Rajib Kumar
    Pal, Milan Kumar
    2024 IEEE SPACE, AEROSPACE AND DEFENCE CONFERENCE, SPACE 2024, 2024, : 948 - 951
12345