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dc.contributor.authorVeksler, Aleksander Vladimirovitsj
dc.contributor.authorJohansen, Tor Arne
dc.contributor.authorBorrelli, Francesco
dc.contributor.authorRealfsen, Bjørnar
dc.date.accessioned2017-12-11T08:57:15Z
dc.date.available2017-12-11T08:57:15Z
dc.date.created2016-11-30T11:19:34Z
dc.date.issued2016
dc.identifier.citationIEEE Transactions on Control Systems Technology. 2016, 24 (4), 1340-1353.nb_NO
dc.identifier.issn1063-6536
dc.identifier.urihttp://hdl.handle.net/11250/2469880
dc.description.abstractMarine vessels with dynamic positioning (DP) capability are typically equipped with sufficient number of thrusters to make them overactuated and with satellite navigation and other sensors to determine their position, heading, and velocity. An automatic control system is tasked with coordinating the thrusters to move the vessel in any desired direction and to counteract the environmental forces. The design of this control system is usually separated into several levels. First, a DP control algorithm calculates the total force and moment of force that the thruster system should produce. Then, a thrust allocation (TA) algorithm coordinates the thrusters so that the resultant force they produce matches the request from the DP control algorithm. Unless significant heuristic modifications are made, the DP control algorithm has limited information about the thruster effects such as saturations and limited rate of rotation of variable-direction thrusters, as well as systemic effects such as singular thruster configurations. The control output produced with this control architecture is therefore not always optimal, and may result in a position loss that would not have occurred with a more sophisticated control algorithm. Recent advances in computer hardware and algorithms make it possible to consider a model-predictive control (MPC) algorithm that combines positioning control and TA into a single algorithm, which should theoretically yield a near-optimal controller output. This paper explores the advantages and disadvantages of using MPC compared with the traditional algorithmsnb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleDynamic positioning with model predictive controlnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber1340-1353nb_NO
dc.source.volume24nb_NO
dc.source.journalIEEE Transactions on Control Systems Technologynb_NO
dc.source.issue4nb_NO
dc.identifier.doi10.1109/TCST.2015.2497280
dc.identifier.cristin1406330
dc.relation.projectNorges forskningsråd: 210670nb_NO
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcodeThis is the authors' accepted and refereed manuscript to the article. © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode2


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