Anti-wind-up designs for dynamic positioning of marine vehicles with control allocation

Perez, Tristan (2009) Anti-wind-up designs for dynamic positioning of marine vehicles with control allocation. In Donha, Decio Crisol (Ed.) Proceedings of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft, The International Federation of Automatic Control (IFAC), Guarujá (SP), Brazil, pp. 243-248.

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This paper presents a framework for the design of a joint motion controller and a control allocation strategy for dynamic positioning of marine vehicles. The key aspects of the proposed designs are a systematic approach to deal with actuator saturation and to inform the motion controller about saturation. The proposed system uses a mapping that translates the actuator constraint sets into constraint sets at the motion controller level. Hence, while the motion controller addresses the constraints, the control allocation algorithm can solve an unconstrained optimisation problem. The constrained control design is approached using a multivariable anti-wind-up strategy for strictly proper controllers. This is applicable to the implementation of PI and PID type of motion controllers.

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ID Code: 71787
Item Type: Conference Paper
Refereed: Yes
Keywords: Dynamic positioning, Anti-wind-up, Control allocation
DOI: 10.3182/20090916-3-BR-3001.00038
ISBN: 9783902661517
ISSN: 1474-6670
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 19 May 2014 22:17
Last Modified: 12 Jun 2014 04:00

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