Control allocation for double-ended ferries with full-scale experimental results

被引：6

作者：

Torben, Tobias R. ^{[1
]}

Brodtkorb, Astrid H. ^{[1
]}

Sorensen, Asgeir J. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Dept Marine Technol, Ctr Autonomous Marine Operat NTNU AMOS, Otto Nielsens Vei 10, N-7052 Trondheim, Norway

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 21期

关键词：

Control allocation; Thrust allocation; Autonomous ferries; Nonlinear Optimization<bold>; </bold>;

D O I：

10.1016/j.ifacol.2019.12.281

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel control allocation algorithm for double-ended ferries with symmetrical thruster configuration is proposed. The allocation problem is formulated using the extended thrust representation, resulting in a four dimensional constrained optimization problem. Using the thrust configuration constraint, the optimization problem is reduced to a scalar bounded optimization problem, for which there exists fast solvers. We propose a cost function and bounds such that the allocation algorithm supports the standard way of performing manual thruster control on ferries. A simulation study in conjunction with full-scale experimental results demonstrate the real-time performance of the proposed algorithm. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.<bold> </bold>

引用

页码：45 / 50

页数：6

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