246
Views
6
CrossRef citations to date
0
Altmetric
Articles

Optimal thrusters steering for dynamically reconfigurable underwater vehicles

, , &
Pages 2348-2361 | Received 16 Aug 2018, Accepted 05 Aug 2019, Published online: 20 Aug 2019

References

  • Arditti, F., Souza, F., Martins, T., & Tannur, E. (2015). Thrust allocation algorithm with efficiency function dependent on the azimuth angle of the actuators. Ocean Engineering, 105, 206–216. doi: 10.1016/j.oceaneng.2015.06.021
  • Benetazzo, F., Ippoliti, G., Longhi, S., Raspa, P., & Sørensen, A. (2012, July 3–6). Dynamic positioning of a marine vessel using DTVSC and robust control allocation. 20th Mediterranean conference on control and automation (MED), Barcelona, Spain.
  • Blanke, M., Lindegaard, K.-P., & Fossen, T.-I. (2000). Dynamic model for thrust generation of marine propellers. In 5th IFAC conference on manoeuvring and control of marine craft (pp. 363–368), Aalborg, Denmark.
  • Chen, C.-T. (1999). Linear system theory and design (3rd ed.). New York, NY: Oxford University Press.
  • Dang, J., & Laheij, H. (2004). Hydrodynamic aspects of steerable thrusters. Dynamic positioning conference, Houston, TX.
  • Ding, F., Yang, D., & Huang, W. (2016). Study on stabilizing power of dynamic positioning ship based on thrust allocation. In IEEE international conference on mechatronics and automation, Harbin, Heilongjiang, China.
  • Fossen, T. (2002). Marine control systems: Guidance, navigation and control of ships, rigs and underwater vehicles. Trondheim: Marine Cybernetics.
  • Hegrenaes, Ø., & Hallingstad, O. (2011, April). Model-aided ins with sea current estimation for robust underwater navigation. IEEE Journal of Oceanic Engineering, 36(2), 316–337. doi: 10.1109/JOE.2010.2100470
  • Johansen, T. A., Fossen, T. I., & Berge, S. P. (2004). Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming. IEEE Transactions on Control Systems Technology, 12(1), 211–216. doi: 10.1109/TCST.2003.821952
  • Johansen, T. A., Fuglseth, T. P., Tondel, P., & Fossen, T. I. (2008). Optimal constrained control allocation in marine surface vessels with rudders. Control Engineering Practice, 16, 457–464. doi: 10.1016/j.conengprac.2007.01.012
  • Johnson, S. G. (n.d.). The NLopt nonlinear-optimization package. Retrieved from http://ab-initio.mit.edu/nlopt
  • Kim, J., & Chung, W. (2006). Accurate and practical thruster modeling for underwater vehicles. Ocean Engineering, 33(5–6), 566–586. doi: 10.1016/j.oceaneng.2005.07.008
  • Kraft, D. (1994). Algorithm 733: TOMP-Fortran modules for optimal control calculations. ACM Transactions on Mathematical Software, 20(3), 262–281. doi: 10.1145/192115.192124
  • Maalouf, D., Creuze, V., Chemori, A., & Tempier, O. (2015). Feedforward inertial actuation for roll stabilization of an underactuated underwater vehicle. International Journal of Robotics and Automation, 30(1), 4161–4196. doi: 10.2316/Journal.206.2015.1.206-4161
  • Moreno, E., & Chung, S.-Y. (2014). SeaDrone: A modular and reconfigurable underwater robot for task optimization. In OCEANS 2014-TAIPEI (pp. 1–7). Taipei.
  • Odetti, A., Bilbuli, M., Bruzzone, G., Caccia, M., Spirandelli, E., & Bruzzone, G. (2017). e-URoPe: a reconfigurableAUV/ROV for man-robot underwater cooperation. Toulouse: IFAC.
  • Parkinson, A.-R., Balling, R., & Hedengren, J.-D. (2018). Optimization methods for engineering design, Edition 2. Brigham Young University. http://apmonitor.com/me575/index.php/Main/BookChapters.
  • Patel, D., Frank, D., & Crane, C. (2014). Controlling an overactuated vehicle with application to an autonomous surface vehicle utilizing azimuth thrusters. In 2014 14th international conference on control, automation and systems (ICCAS 2014), Seoul, Korea.
  • Powell, M. J. D. (1978). A fast algorithm for nonlinearly constrained optimization calculations. In G. A. Watson (Ed.), Numerical analysis (pp. 144–157). Berlin: Springer.
  • Powell, M. J. D. (1998). Direct search algorithms for optimization calculations. Acta Numerica, 7, 287–336. doi: 10.1017/S0962492900002841
  • Pugi, L., Allotta, B., & Pagliai, M. (2018). Redundant and reconfigurable propulsion systems to improve motion capability of underwater vehicles. Ocean Engineering, 148, 376–385. doi: 10.1016/j.oceaneng.2017.11.039
  • Ribas, D., Palomeras, N., Ridao, P., & Mallios, A. (2012). Girona 500 AUV: From survey to intervention. IEEE/ASME Transactions on Mechatronics, 17(1), 46–53. doi: 10.1109/TMECH.2011.2174065
  • Ruiz, M., Delefortrie, G., Vantorre, M., & Geerts, S. (2012, October 1–4). Propulsion and steering behaviour of a ship equipped with two contra-rotating Z-drives. 10th international conference on hydrodynamics, St. Petersburg, Russia.
  • Runarsson, T. P., & Yao, X. (2005). Search biases in constrained evolutionary optimization,. IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews), 35(2), 233–243. doi: 10.1109/TSMCC.2004.841906
  • Vega, E. P. (2017). Task-based design and optimization of reconfigurable propulsion systems for autonomous underwater vehicles (Doctoral dissertation). Université de Bretagne Occidentale (UBO), Brest.
  • Wang, Y., Gu, J., & Zou, C. (2013). Thrust allocation in dynamic positioning system based on particle swarm optimization algorithm. In 2013 OCEANS, San Diego, CA, USA.
  • Xu, R.-H., Wang, Q.-R., Song, Y.-N., Zheng, R.-R., & Chen, M.-J. (2011, March 26–28). Study on ship dynamic positioning system's thruster allocation based on genetic algorithm. International conference on information science and technology, Nanjing, Jiangsu, China.

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.