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

By Tristan Perez, Alejandro Donaire. 2009

46 citations recorded by the source corpus.

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.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/740f0d2f5dd142081c2246efcab66d6d54e739d4

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In Aerospace Engineering

In Control and Systems Engineering

Citations in the corpus

A survey of dynamic positioning control systems (2011, background): “…Sørensen, Sagatun, and Fossen (1996), Fossen, Sagatun, and Sørensen (1996), Katebi, Grimble, and Zhang (1997, 1997), Mandzuka and Vukic (1995), Kijima, Murata, and Furukawa (1998), Tannuri and Donha (2000), Volovodov, Chernjaev, Kaverinsky, Volovodov, and Lampe (2004) and Perez and Donaire (2009).”
Robust dynamic positioning of ships with disturbances under input saturation (2016, methodology): “…proposed DP proportional–integral control, where disturbances and input saturation were handled by the integral action with anti-windup scheme (Perez & Donaire, 2009); and Donaire and Perez proposed DP passivity-based control, where disturbances and input saturation were handled by using the…”