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

Vlachos, K; Papadopoulos, E

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	https://dspace.lib.ntua.gr/xmlui/handle/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