Thrust allocation with linear constrained quadratic cost function
Eivind, Ruth, Sørensen, Asgeir J., & Perez, Tristan (2007) Thrust allocation with linear constrained quadratic cost function. In Longi, Sauro & Vukic, Zoran (Eds.) Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems, International Federation of Automatic Control, Grand Hotel Elaphusa, Croatia, pp. 337-342.
In this paper, a method of thrust allocation based on a linearly constrained quadratic cost function capable of handling rotating azimuths is presented. The problem formulation accounts for magnitude and rate constraints on both thruster forces and azimuth angles. The advantage of this formulation is that the solution can be found with a finite number of iterations for each time step. Experiments with a model ship are used to validate the thrust allocation system.
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|Item Type:||Conference Paper|
|Keywords:||Optimization, Propulsion control, Quadratic programming, Thrust allocation|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2007 IFAC|
|Deposited On:||02 Nov 2014 22:58|
|Last Modified:||04 Nov 2014 05:05|
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