Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming

Control allocation problems can be formulated as optimization problems, where the objective is typically to minimize the use of control effort (or power) subject to actuator rate and position constraints, and other operational constraints. Here we consider the additional objective of singularity avo...

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Veröffentlicht in:IEEE transactions on control systems technology Jg. 12; H. 1; S. 211 - 216
Hauptverfasser: Johansen, T.A., Fossen, T.I., Berge, S.P.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York, NY IEEE 01.01.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Actuators
Allocations
Applied sciences
Avoidance
Azimuth
Computer science; control theory; systems
Constraint optimization
Control systems
Control theory. Systems
Controllability
Energy consumption
Exact sciences and technology
Force control
Maneuverability
Maneuvers
Motion control
Nonlinearity
Quadratic programming
Singularities
Surges
Thrusters
Energy consumption
Singularity
Saturation
Resource allocation
Non linear control
Quadratic programming
Convex programming
Constrained optimization
Control constraint
Azimuth
Maneuverability
Power control
Sequential method
Controllability
Non convex analysis
State constraint
ISSN:1063-6536, 1558-0865
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Beschreibung
Zusammenfassung:Control allocation problems can be formulated as optimization problems, where the objective is typically to minimize the use of control effort (or power) subject to actuator rate and position constraints, and other operational constraints. Here we consider the additional objective of singularity avoidance, which is essential to avoid loss of controllability in some applications, leading to a nonconvex nonlinear program. We suggest a sequential quadratic programming approach, solving at each sample a convex quadratic program approximating the nonlinear program. The method is illustrated by simulated maneuvers for a marine vessel equipped with azimuth thrusters. The example indicates reduced power consumption and increased maneuverability as a consequence of the singularity-avoidance.
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ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2003.821952