Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation
نویسندگان
چکیده
منابع مشابه
Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation
In this paper, we address the control design problem of positioning of over-actuated marine vehicles with control allocation. The proposed design is based on a combined position and velocity loops in a multi-variable anti-windup implementation together with a control allocation mapping. The vehicle modelling is considered with appropriate simplifications related to low-speed manoeuvring hydrody...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 2009
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.2009.2.2