Modeling and control of a triangular floating platform driven by rotating jets

Repoulias, F; Vlachos, K; Papadopoulos, E

dc.contributor.author	Repoulias, F	en
dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:45:36Z
dc.date.available	2014-03-01T02:45:36Z
dc.date.issued	2008	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32308
dc.subject	Control allocation	en
dc.subject	Floating platform control	en
dc.subject	Rotating jets driven platform	en
dc.subject.other	Offshore oil well production	en
dc.subject.other	Rotation	en
dc.subject.other	Closed loops	en
dc.subject.other	Control allocation	en
dc.subject.other	Control and automation	en
dc.subject.other	Control configuration	en
dc.subject.other	Control inputs	en
dc.subject.other	Degrees of freedom	en
dc.subject.other	Dynamic modelling	en
dc.subject.other	Dynamic positioning	en
dc.subject.other	Floating platform control	en
dc.subject.other	Floating platforms	en
dc.subject.other	Initial design	en
dc.subject.other	Modeling and control	en
dc.subject.other	Practical implementation	en
dc.subject.other	Rotating jets driven platform	en
dc.subject.other	Simulation results	en
dc.subject.other	Industrial engineering	en
dc.title	Modeling and control of a triangular floating platform driven by rotating jets	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2008.4602194	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2008.4602194	en
heal.identifier.secondary	4602194	en
heal.publicationDate	2008	en
heal.abstract	In this paper, we consider the dynamic modeling and the 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 floating sea triangular platform. The required, closed-loop force and moment must be provided by three rotating pump jets, located at the bottom of three partly submerged cylinders at the corners of the platform. With this control configuration the platform is overactuated, i.e., it has more control inputs than degrees of freedom (DOF). We present the initial design of a control allocation scheme that allows goal realization without violating thruster capabilities. Simulation results are presented that demonstrate the performance of the controller, and the allocation scheme employed. © 2008 IEEE.	en
heal.journalName	2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08	en
dc.identifier.doi	10.1109/MED.2008.4602194	en
dc.identifier.spage	487	en
dc.identifier.epage	492	en