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http://dx.doi.org/10.7746/jkros.2016.11.4.217

Dynamic Positioning Control of a Twin-hull Unmanned Surface Ship  

Kang, Minju (Department of Mechanical Engineering, KAIST)
Kim, Taeyun (Department of Mechanical Engineering, KAIST)
Kim, Jinwhan (Department of Mechanical Engineering, KAIST)
Publication Information
The Journal of Korea Robotics Society / v.11, no.4, 2016 , pp. 217-225 More about this Journal
Abstract
Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.
Keywords
Unmanned Surface Vehicle; Dynamic positioning; Thrust allocation;
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