National Technical University of Athens - School of Mechanical Engineering
Control Systems Lab
Evangelos Papadopoulos Research Group

 Location: M²E² Lab    Current Researchers      
 Phone: +(30) 210-772-2643    Kostas Vlachos Post Doc   
      Aris Tsopelakos Diploma Student   
 Dedicated Equipment            

The project aims at the dynamic modeling and the 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 floating sea triangular platform. The required, closed-loop force and moment must be provided by three rotating pump jets, located at the bottom of three partly submerged cylinders at the corners of the platform. With this control configuration the platform is overactuated, i.e., it has more control inputs than degrees of freedom. A control allocation scheme that allows goal realization without violating thruster capabilities is developed. 






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