Proceedings ArticleDOI
A Survey of Control Allocation Methods for Ships and Underwater Vehicles
Thor I. Fossen,Tor Arne Johansen +1 more
- pp 1-6
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TLDR
A survey of control allocation methods for overactuated vessels is presented in this paper, where the objective is to minimize the use of control effort (or power) subject to actuator rate and position constraints, power constraints as well as other operational constraints.Abstract:
Control allocation problems for marine vessels can be formulated as optimization problems, where the objective typically is to minimize the use of control effort (or power) subject to actuator rate and position constraints, power constraints as well as other operational constraints. In addition, singularity avoidance for vessels with azimuthing thrusters represent a challenging problem since a non-convex nonlinear program must be solved. This is useful to avoid temporarily loss of controllability in some cases. In this paper, a survey of control allocation methods for overactuated vessels are presented.read more
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BookDOI
Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control
TL;DR: In this article, the authors present a survey of the latest tools for analysis and design of advanced guidance, navigation and control systems and present new material on underwater vehicles and surface vessels.
Journal ArticleDOI
Control allocation—A survey
Tor Arne Johansen,Thor I. Fossen +1 more
TL;DR: The objective of the present paper is to survey control allocation algorithms, motivated by the rapidly growing range of applications that have expanded from the aerospace and maritime industries, where control allocation has its roots, to automotive, mechatronics, and other industries.
Journal ArticleDOI
A survey of dynamic positioning control systems
TL;DR: A survey of some of the major technology advances in the DP controller design having taken place during more than 30 years of research and development is given.
Journal ArticleDOI
Brief paper: Dynamic allocation for input redundant control systems
TL;DR: A dynamic augmentation to a control scheme which performs the plant input allocation with the goal of employing each actuator in a suitable way, based on its magnitude and rate limits is proposed.
Journal ArticleDOI
Fast and Global Optimal Energy-Efficient Control Allocation With Applications to Over-Actuated Electric Ground Vehicles
Yan Chen,Junmin Wang +1 more
TL;DR: Simulation results showed that the proposed global optimization algorithm was at least 20 times faster than the classical active-set optimization method, while achieving better control allocation results for system energy saving.
References
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Book
Numerical Optimization
Jorge Nocedal,Stephen J. Wright +1 more
TL;DR: Numerical Optimization presents a comprehensive and up-to-date description of the most effective methods in continuous optimization, responding to the growing interest in optimization in engineering, science, and business by focusing on the methods that are best suited to practical problems.
Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Journal ArticleDOI
Brief An algorithm for multi-parametric quadratic programming and explicit MPC solutions
TL;DR: The properties of the polyhedral partition of the state space induced by the multi-parametric piecewise affine solution are studied, and a new mp-QP solver is proposed that adopts a different exploration strategy for subdividing the parameter space, avoiding unnecessary partitioning and QP problem solving.
Journal ArticleDOI
Evaluation of optimization methods for control allocation
TL;DR: The major conclusion is that constrained optimization can be performed with computational requirements that fall within an order of magnitude of those of simpler methods.