dc.contributor.author | Torben, Tobias | |
dc.contributor.author | Brodtkorb, Astrid Helene | |
dc.contributor.author | Sørensen, Asgeir Johan | |
dc.date.accessioned | 2021-03-11T16:09:40Z | |
dc.date.available | 2021-03-11T16:09:40Z | |
dc.date.created | 2020-03-02T00:18:53Z | |
dc.date.issued | 2020 | |
dc.identifier.citation | International Journal of Control, Automation and Systems. 2020, 18 (3), 556-563. | en_US |
dc.identifier.issn | 1598-6446 | |
dc.identifier.uri | https://hdl.handle.net/11250/2732983 | |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Springer Verlag | en_US |
dc.title | Control Allocation for Double-ended Ferries with Full-scale Experimental Results | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.pagenumber | 556-563 | en_US |
dc.source.volume | 18 | en_US |
dc.source.journal | International Journal of Control, Automation and Systems | en_US |
dc.source.issue | 3 | en_US |
dc.identifier.doi | 10.1007/s12555-019-0658-4 | |
dc.identifier.cristin | 1798785 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.relation.project | Norges forskningsråd: 280655 | en_US |
dc.description.localcode | This is a post-peer-review, pre-copyedit version of an article. The final authenticated version is available online at:http://dx.doi.org/10.1007/s12555-019-0658-4 | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |