Control Allocation for Double-ended Ferries with Full-scale Experimental Results.
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| Title: | Control Allocation for Double-ended Ferries with Full-scale Experimental Results. |
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| Authors: | Torben, Tobias R., Brodtkorb, Astrid H., Sørensen, Asgeir J. |
| Source: | International Journal of Control, Automation & Systems; Mar2020, Vol. 18 Issue 3, p556-563, 8p |
| 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. [ABSTRACT FROM AUTHOR] |
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| Database: | Complementary Index |
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