Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance

Veksler, Aleksander; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar

doi:10.1109/cca.2014.6981453

Cited by 10 publications

(5 citation statements)

References 13 publications

(20 reference statements)

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“…In the study of TA, the singular thrust structure means that the current propulsion system cannot produce the resultant force or moment in the freedom of movement of the hull [22]. When approaching a singular structure, the thruster needs to produce a higher thrust output to meet the requirements of working conditions, essentially by reducing the propulsion efficiency in exchange for ship maneuverability.…”

Section: ) Singular Structurementioning

confidence: 99%

Optimal Thrust Allocation Strategy of Electric Propulsion Ship Based on Improved Non-Dominated Sorting Genetic Algorithm II

Gao

Wang

et al. 2019

IEEE Access

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The azimuth thruster is widely used in electric propulsion ships due to its excellent performance. The thrust allocation (TA) method of multi-azimuth thruster is the key technology in ship motion control. The purpose of TA is to accurately distribute the thrust and angle of each thruster to provide the vessel the required force and moment. A TA strategy based on the improved non-dominated sorting genetic algorithm II (INSGA-II) is developed in this study. The algorithm introduces the differential mutation operator in the differential evolution (DE) to replace the polynomial variation in NSGA-II, which improves the local optimization ability of the algorithm. The effectiveness of the TA strategy based on INSGA-II algorithm is illustrated by simulations. INDEX TERMS Electric propulsion, multi-azimuth thruster, thrust allocation, optimization, NSGA-II.

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Section: ) Singular Structurementioning

confidence: 99%

Optimal Thrust Allocation Strategy of Electric Propulsion Ship Based on Improved Non-Dominated Sorting Genetic Algorithm II

Gao

Wang

et al. 2019

IEEE Access

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“…This decoupling is not very restrictive for systems where the actuator configuration is constant. However, for actuators such as azimuth thrusters, the azimuth angles are also control inputs, and a nonlinear control allocation problem must be solved, requiring sophisticated real-time optimization techniques [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents

Basso

Thyri

Pettersen

et al. 2020

2020 IEEE Conference on Control Technology and Applications (CCTA)

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Autonomous surface vehicles (ASVs) are safetycritical systems that must provide strict safety guarantees such as collision avoidance to enable fully autonomous operations. This paper presents a unified framework for safety-critical control of ASVs for maneuvering, dynamic positioning, and control allocation with safety guarantees in the presence of unknown ocean currents. The framework utilizes control Lyapunov function (CLF)-and control barrier function (CBF)-based quadratic programs (QPs), and is applicable to a general class of nonlinear affine control systems. The stabilization objective is formulated as a maneuvering problem and integral action is introduced in the CLFs to counteract the effect of unknown irrotational ocean currents. Furthermore, ocean current estimates are constructed for robust CBF design, and analytic conditions under which the estimates guarantee safety are derived. Subsequently, robust CBFs are designed to achieve collision avoidance of static obstacles. The paper concludes by verifying the framework in simulation for a double-ended passenger ferry.

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“…In the field of robot obstacle avoidance, the mainly applied domestic and overseas research methods include DLS method [7] , SICQP method [8] , normal form method [9] , etc. [10][11][12] . However, it is difficult to solve the contradictions between algorithm complexity and precision of end tracking existing in these methods.…”

Section: Introductionmentioning

confidence: 99%

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

Liu¹,

Dai²

2017

dtetr

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This thesis proposes a path planning method of obstacle and singularity avoidance with synergistic effect for redundant robot. By analyzing robot configuration, it proposes an improved method to calculate real-time minimum distance. At first, it screens out the connecting rod which might collide. Then, it calculates the distance by coordinate variation method and took the minimum value. At last, it obtains the real-time minimum distance. By introducing two obstacle avoidance parameters related to the real-time minimum distance, this thesis uses the self-motion of redundant kinematic chain in null space to complete obstacle avoidance. Also, it applies DLS method to complete singularity avoidance optimization to the obstacle avoidance algorithm. It solves the problem of excessive joint velocity close to singularity configuration. In the end, this thesis verifies the effectiveness of the algorithm by conducting simulation experiment on a plane 3R redundant robot.

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Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance

Cited by 10 publications

References 13 publications

Optimal Thrust Allocation Strategy of Electric Propulsion Ship Based on Improved Non-Dominated Sorting Genetic Algorithm II

Optimal Thrust Allocation Strategy of Electric Propulsion Ship Based on Improved Non-Dominated Sorting Genetic Algorithm II

Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

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