- Title
- Constrained control design for dynamic positioning of marine vehicles with control allocation
- Creator
- Perez, Tristan; Donaire, Alejandro
- Relation
- Modeling, Identification and Control Vol. 30, Issue 2, p. 57-70
- Publisher Link
- http://dx.doi.org/10.4173/mic.2009.2.2
- Publisher
- Royal Norwegian Council for Scientific and Industrial Research
- Resource Type
- journal article
- Date
- 2009
- Description
- In this paper, we address the control design problem of positioning of over-actuated marine vehicles with control allocation. The proposed design is based on a combined position and velocity loops in a multi-variable anti-windup implementation together with a control allocation mapping. The vehicle modelling is considered with appropriate simplifications related to low-speed manoeuvring hydrodynamics and vehicle symmetry. The control design is considered together with a control allocation mapping. We derive analytical tuning rules based on requirements of closed-loop stability and performance. The anti- windup implementation of the controller is obtained by mapping the actuator-force constraint set into a constraint set for the generalized forces. This approach ensures that actuation capacity is not violated by constraining the generalized control forces; thus, the control allocation is simplified since it can be formulated as an unconstrained problem. The mapping can also be modified on-line based on actuator availability to provide actuator-failure accommodation. We provide a proof of the closed-loop stability and illustrate the performance using simulation scenarios for an open-frame underwater vehicle.
- Subject
- marine control systems; dynamic positioning; control allocation; anti-windup; fault accommodation
- Identifier
- uon:6976
- Identifier
- http://hdl.handle.net/1959.13/808073
- Identifier
- ISSN:0332-7353
- Full Text
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