Fault tolerant control allocation for a thruster-controlled floating platform using parametric programming

— The task in control allocation is to determine how to generate a specified generalized force from a redundant set of control effectors where the associated actuator control inputs are constrained, and other physical and operational constraints and objective should be met. In this paper we consider a convex approximation to a control allocation problem for a thrustercontrolled floating platform. The platform has eight rotatable azimuth thrusters and the high level controller is assumed to specify three generalized forces; surge, sway and yaw. The control allocation problem is formulated as a convex quadraticor linear program, where the constraints are dependent on the specified generalized force. The problem is solved explicitly by viewing the generalized forces as a vector of parameters and utilizing parametric programming techniques. For convex parametric quadratic programs (pQP) or parametric linear programs (pLP) with a linear parametrization of the constraints, there always ...

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Jørgen Spjøtvold, Tor Arne Johansen
• Keywords: CDC 2009, Control Allocation, Control Allocation Problem, Control Systems, Generalized Forces