Modeling and control of a triangular floating platform driven by rotating jets

In this paper, we consider 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 (DOF). We present the initial design of a control allocation scheme that allows goal realization without violating thruster capabilities. Simulation results are presented that demonstrate the performance of the controller, and the allocation scheme employed.