Abstract
ABSTRACT Intelligent unmanned tugboats have the potential to significantly improve the efficiency of barge manipulation. This paper investigates the kinetic modelling, optimal force distribution, and cooperative control within the unmanned tugboat towing and pushing system. A practical kinetic model for the towing and pushing system has been developed, precisely taking into account factors like physical cable forces and disturbances caused by wind and waves in turbulent sea conditions. Following this, an optimal force allocation approach is investigated to allocate the desired force and determine the towing and pushing angles. Furthermore, a cooperative model predicted control strategy is proposed for the dual unmanned tugboats' towing and pushing systems. This strategy aims to ensure the barge quickly reaches its designated location, maintaining the desired heading and velocity. Simulation results indicate that unmanned tugboats can collaboratively tow and push the unpowered barge to the specified location with the desired heading and speed.
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