%0 Journal Article
%T Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation
%A Tristan Perez
%A Alejandro Donaire
%J Modeling, Identification and Control
%D 2009
%I Norwegian Society of Automatic Control
%R 10.4173/mic.2009.2.2
%X 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.
%K Marine control systems
%K dynamic positioning
%K control allocation
%K anti-windup
%U http://www.mic-journal.no/PDF/2009/MIC-2009-2-2.pdf