**Page description appears here**

“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.

     Valid XHTML 1.0 Strict

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
  [14] Guoqing Zhang, Yunze Cai and Weidong Zhang (2017), doi:10.1109/TSMC.2016.2628859
  [15] Du Xue, Yu Haomiao, Zhou Jiajia and Xia Genglei (2017), doi:10.23919/ChiCC.2017.8027910
  [16] Christina Kazantzidou, Tristan Perez and Alejandro Donaire (2017), doi:10.1109/ASCC.2017.8287597
  [17] Xiaogong Lin, Jun Nie, Yuzhao Jiao, Kun Liang and Heng Li (2018), doi:10.1016/j.oceaneng.2018.03.086
  [18] Xin Hu and Jialu Du (2018), doi:10.1007/s11071-018-4364-1
  [19] Xin Hu, Jialu Du, Guibing Zhu and Yuqing Sun (2018), doi:10.1016/j.neucom.2018.08.056
  [20] Robert Skulstad, Guoyuan Li, Houxiang Zhang and Thor I. Fossen (2018), doi:10.1016/j.ifacol.2018.09.481
  [21] Sang-Ki Jeong, Hyeung-Sik Choi, Jin-Il Kang, Ji-Youn Oh, Seo-Kang Kim and Thieu Quang Minh Nhat (2019), doi:10.3233/JIFS-169881
  [22] Yuanhui Wang, Xiyun Jiang, Wenchao She and Fuguang Ding (2019), doi:10.1109/ACCESS.2019.2945501
  [23] Mochamad Teguh Subarkah, Arief Syaichu Rohman, Syarif Hidayat and Aji Choirul Anwar (2019), doi:10.1109/ICSEngT.2019.8906496

[1] Bernstein, D. Michel, A. (1995). A chronological bibliography on saturating actuators, International Journal of Robust and Nonlinear Control. .5:375-380 doi:10.1002/rnc.4590050502
[2] Brogliato, B., Lozano, R., Maschke, B., Egeland, O. (2007). Dissipative System Analysis and Control, Springer-Verlag, London.
[3] Fossen, T. (2002). Marine Control Systems, Marine Cybernetics AS, Trondheim.
[4] Fossen, T. Johansen, T. (2006). A survey of control allocation methods for ships and underwater vehicles, In Proc. of the 14th IEEE Mediterranean Conference on Control and Automation. Ancona, Italy.
[5] Fossen, T., Johansen, T., Perez, T. (2008). A Survey of Control Allocation Methods for Underwater Vehicles, chapter 7, pages 109-128, In-Tech, Vienna, Austria.
[6] Fossen, T. Perez, T. (2009). Kalman filtering for positioning and heading control of ships and offshore rigs, IEEE Control Systems Magazine, 2.6:32-46 doi:10.1109/MCS.2009.934408
[7] Goodwin, G., Graebe, S., Salgado, M. (2001). Control System Design, Prentice-Hall Inc., New Jersey.
[8] Goodwin, G., Seron, M., DeDona, J. (2005). Constrained Control and Estimation: An Optimisation Approach, Communications and Control Engineering. Springer, London.
[9] Khalil, H. (2000). Nonlinear Systems, Prentice-Hall, New Jersey.
[10] Perez, T. (2005). Ship Motion Control, Advances in Industrial Control. Springer-Verlag, London.
[11] Perez, T. (2009). Anti-windup designs for ship dynamic positioning with control allocation, In Proc. of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft. Guaruja, Brazil.
[12] Peterson, J. Bodson, M. (2006). Constrained quadratic programming techniques for control allocation, IEEE Transaction on Control System Technology, 1.1:91-98 doi:10.1109/TCST.2005.860516
[13] Ruth, E., Smogeli, O., Perez, T., Sorensen, A. (2009). Antispin thrust allocation for marine vessels, IEEE Transactions on Control Systems Technology, 1.6:1257-1269 doi:10.1109/TCST.2008.2006187
[14] Smallwood, D. Whitcomb, L. (2003). Adaptive identification of dynamically positioned underwater vehicles, IEEE Transaction on Control System Technology, 1.4:505-515 doi:10.1109/TCST.2003.813377

  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}


Oct 2018: MIC reaches 3000 DOI Forward Links. The last 1000 took 2 years and 5 months.

May 2016: MIC reaches 2000 DOI Forward Links. The first 1000 took 34 years, the next 1000 took 2.5 years.

July 2015: MIC's new impact factor is now 0.778. The number of papers published in 2014 was 21 compared to 15 in 2013, which partially explains the small decrease in impact factor.

Aug 2014: For the 3rd year in a row MIC's impact factor increases. It is now 0.826.

Dec 2013: New database-driven web-design enabling extended statistics. Article number 500 is published and MIC reaches 1000 DOI Forward Links.

Jan 2012: Follow MIC on your smartphone by using the RSS feed.


July 2011: MIC passes 1000 ISI Web of Science citations.

Mar 2010: MIC is now indexed by DOAJ and has received the Sparc Seal seal for open access journals.

Dec 2009: A MIC group is created at LinkedIn and Twitter.

Oct 2009: MIC is now fully updated in ISI Web of Knowledge.