A solution for constrained control allocation problem by using multi-parametric quadratic programming algorithm

Control allocation is an important part of a system. It implements the function that map the desired commanded forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system b...

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Bibliographic Details
Published in:2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) pp. 1034 - 1038
Main Authors: Van Phuoc Bui, Young Bok Kim
Format: Conference Proceeding
Language:English
Published: 01.10.2013
Subjects:
Algorithm design and analysis
barge ship
control allocation
dynamic positioning
mp-QP algorithm
Programming
Reliability
robust control
Vectors
ISSN:2093-7121
Online Access:Get full text
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Summary:Control allocation is an important part of a system. It implements the function that map the desired commanded forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system by using multi-parametric quadratic programming (mp-QP) algorithm. The goal of mp-QP algorithm applied in this study is to compute a solution to minimize a quadratic performance index subject to linear equality and inequality constraints. The solution can be pre-computed off-line in the explicit form of a piecewise linear (PWL) function of the generalized forces and constrains. The efficiency of mp-QP approach is evaluated through a dynamic positioning simulation for a ship by using four tugboats with constraints about limited pushing forces and found to work well.
ISSN:2093-7121
DOI:10.1109/ICCAS.2013.6704069