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“Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation”

Authors: Tristan Perez and Alejandro Donaire,
Affiliation: University of Newcastle (Australia) and NTNU, Centre for Ships and Ocean Structures
Reference: 2009, Vol 30, No 2, pp. 57-70.

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Keywords: Marine control systems, dynamic positioning, control allocation, anti-windup, fault accommodation

Abstract: 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.

PDF PDF (2088 Kb)        DOI: 10.4173/mic.2009.2.2

DOI forward links to this article:
  [1] Tristan Perez, Alejandro Donaire, Pierre De Lamberterie and Brendan Williams (2011), doi:10.2514/6.2011-1531
  [2] Ming-chung Fang and Zi-yi Lee (2013), doi:10.1007/s13344-013-0040-x
  [3] Asgeir J. Sørensen (2011), doi:10.1016/j.arcontrol.2011.03.008
  [4] Bong Seok Park (2015), doi:10.1155/2015/903759
  [5] A. Doria-Cerezo, J.A. Acosta, A.R. Castano and E. Fossas (2014), doi:10.1109/CCA.2014.6981452
  [6] Ming-Chung Fang and Zi-Yi Lee (2015), doi:10.12989/ose.2015.5.3.199
  [7] Yongjun Seo and Youdan Kim (2016), doi:10.2514/6.2016-0103
  [8] Ming-Chung Fang and Zi-Yi Lee (2016), doi:10.1016/j.ijnaoe.2015.09.003
  [9] Zhi Jian-hui, Chen Yong, Dong Xin-min, Xue Jian-ping and Yi Jian (2015), doi:10.1109/ChiCC.2015.7260053
  [10] Anton Proskurnikov and Elena Ambrosovskaya (2012), doi:10.3182/20120919-3-IT-2046.00026
  [11] Anton V. Proskurnikov and Elena B. Ambrosovskaya (2010), doi:10.3182/20100915-3-DE-3008.00077
  [12] Guibing Zhu, Jialu Du and Yongchao Liu (2016), doi:10.1109/ICIST.2016.7483430
  [13] Jialu Du, Xin Hu, Miroslav Krsti and Yuqing Sun (2016), doi:10.1016/j.automatica.2016.06.020

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  title={{Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation}},
  author={Perez, Tristan and Donaire, Alejandro},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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