Constrained control design for dynamic positioning of marine vehicles with control allocation
Data(s) |
2009
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Resumo |
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. |
Formato |
application/pdf |
Identificador | |
Publicador |
Royal Norwegian Council for Scientific and Industrial Research |
Relação |
http://eprints.qut.edu.au/69621/1/69621.pdf DOI:10.4173/mic.2009.2.2 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. |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #080000 INFORMATION AND COMPUTING SCIENCES #100000 TECHNOLOGY #Robotics |
Tipo |
Journal Article |