[Humanities]
Hiroyuki Kajiwara(Professor)
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| fig1）Optimal Thrust Allocation |
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[ 研究概要 ]
In the paper[1], we propose thrust allocation algorithms that handle the bases in the kernel space of a CA matrix which represents the relationship between the azimuth thrusts and control forces. The proposed algorithms satisfy the azimuth thruster angle constraints and make the real-time calculation possible in a reasonable sampling time. Numerical results are given to show the effectiveness of the proposed method, compared with the conventional Lagrange multiplier method.
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[1] K.Ohtsubo, H.Kajiwara:, On thrust allocation methods under the constraints on azimuth thrusters' angle, J. of The Japan Society of Naval Architects and Ocean Engineers (to appear in Japanease).
[ Related Key Word ]
Thrust Allocation
| Thruster Angle Constraint
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