Control Allocation for Double-ended Ferries with Full-scale Experimental Results
Peer reviewed, Journal article
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Original versionInternational Journal of Control, Automation and Systems. 2020, 18 (3), 556-563. 10.1007/s12555-019-0658-4
A novel control allocation algorithm for double-ended ferries with symmetrical thruster configuration is proposed. The allocation problem is formulated using the extended thrust representation, resulting in a four dimensional constrained optimization problem. Using the thrust configuration constraint, the optimization problem is reduced to a scalar bounded optimization problem, for which there exists fast solvers. We propose a cost function and bounds such that the allocation algorithm supports the standard way of performing manual thruster control on ferries. The real-time performance of the proposed algorithm is demonstrated in a simulation study, and in full-scale experiments.