|Control Allocation for Double-ended Ferries with Full-scale Experimental Results
Tobias R. Torben*, Astrid H. Brodtkorb, and Asgeir J. Sørensen
International Journal of Control, Automation, and Systems, vol. 18, no. 3, pp.556-563, 2020
Abstract : 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. The real-time performance of the proposed algorithm is demonstrated in a simulation study, and in full-scale experiments.
Autonomous ferries, control allocation, nonlinear optimization, thrust allocation.