Control design and allocation of an over-actuated triangular floating platform

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dc.contributor.author Vlachos, K en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:46:44Z
dc.date.available 2014-03-01T02:46:44Z
dc.date.issued 2010 en
dc.identifier.issn 10504729 en
dc.identifier.uri http://hdl.handle.net/123456789/32814
dc.subject Control Design en
dc.subject Degree of Freedom en
dc.subject Design Rules en
dc.subject Dynamic Positioning en
dc.subject.other Closed-loop en
dc.subject.other Control allocation en
dc.subject.other Control configuration en
dc.subject.other Control design en
dc.subject.other Control inputs en
dc.subject.other Degrees of freedom en
dc.subject.other Design rules en
dc.subject.other Environmental disturbances en
dc.subject.other Floating platforms en
dc.subject.other Manipulability en
dc.subject.other Practical implementation en
dc.subject.other Design en
dc.subject.other Robotics en
dc.title Control design and allocation of an over-actuated triangular floating platform en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ROBOT.2010.5509623 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROBOT.2010.5509623 en
heal.identifier.secondary 5509623 en
heal.publicationDate 2010 en
heal.abstract This paper presents the design and practical implementation of an autonomous dynamic positioning scheme, i.e., the stabilization of linear and angular velocities as well as the position and orientation, of a novel triangular floating sea platform. The required closed-loop forces and moments must be provided by three rotating pump jets, located at the bottom of three partly submerged cylinders located at the three corners of the platform. With this control configuration the platform is over-actuated, i.e., it has more control inputs than degrees of freedom (DOF). Design rules that maximize the manipulability of the platform, and a control allocation scheme that allows goal realization without violating thruster capabilities are developed. Simulations results, including environmental disturbances, are presented that demonstrate the performance of the controller, and the allocation scheme employed. ©2010 IEEE. en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ROBOT.2010.5509623 en
dc.identifier.spage 3739 en
dc.identifier.epage 3744 en

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