Constrained control design for dynamic positioning of marine vehicles with control allocation

Perez, Tristan & Donaire, Alejandro (2009) Constrained control design for dynamic positioning of marine vehicles with control allocation. Modeling, Identification and Control, 30(2), pp. 57-70.


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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.

Impact and interest:

12 citations in Scopus
7 citations in Web of Science®
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ID Code: 69621
Item Type: Journal Article
Refereed: Yes
Keywords: Robotics
DOI: 10.4173/mic.2009.2.2
ISSN: 0332-7353
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000)
Australian and New Zealand Standard Research Classification > TECHNOLOGY (100000)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 31 Mar 2014 22:55
Last Modified: 05 Jun 2017 06:50

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