ID PW
 
* Join the Member of ICROS 
* Need your ID or Password?
 
 
 
Subject Keyword Abstract Author
 
 
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.

Keyword : Autonomous ferries, control allocation, nonlinear optimization, thrust allocation.

 
Copyright ⓒ ICROS. All rights reserved.
Institute of Control, Robotics and Systems, Suseo Hyundai-Ventureville 723, Bamgogae-ro 1-gil 10, Gangnam-gu, Seoul 06349, Korea
Homepage http://eng.icros.org | Tel. +82-2-6949-5801 (ext. 3) | Fax. +82-2-6949-5807 | E-mail icros@icros.org