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On the continuity of control allocation for surface vessels with two azimuth thrusters.
- Source :
-
Ocean Engineering . Nov2023:Part 2, Vol. 287, pN.PAG-N.PAG. 1p. - Publication Year :
- 2023
-
Abstract
- This paper presents two novel results concerning the control allocation problem (CAP) for marine crafts with 2 azimuth thrusters. The first result is a novel closed form solution for the CAP which ensures Lipschitz continuity of the azimuth angle. The second result is a convex optimization reformulation of the CAP for the case of limited rate of changes for the actuators orientation which includes a novel regularization term that avoids anomalous behaviors due to underactuation. The effectiveness of the two methods are showcased through numerical simulations. • Novel closed-form solution enhances marine craft control with 2 azimuth thrusters. • Convex reformulation manages actuator rate of change, preventing anomalous behavior. • Simulations validate closed-form solution and convex optimization [ABSTRACT FROM AUTHOR]
- Subjects :
- *AZIMUTH
*LIPSCHITZ continuity
*CONTINUITY
Subjects
Details
- Language :
- English
- ISSN :
- 00298018
- Volume :
- 287
- Database :
- Academic Search Index
- Journal :
- Ocean Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 173343481
- Full Text :
- https://doi.org/10.1016/j.oceaneng.2023.115813