Design of a linear model predictive controller for an overactuated triangular floating platform

In this paper the design of a linear model predictive controller for a triangular floating platform is presented aiming at the stabilization of its linear and angular velocities as well as its position and orientation. Three rotating jets, located at the corners of the platform, control its motion. With this control configuration, the platform is over-actuated. The prediction, and optimization phase of the linear model predictive controller are presented in detail. Simulation results, in the presence of realistic environmental disturbances, are given that demonstrate the performance and robustness of the controller. The proposed controller is compared with a modelbased controller that was developed for the same platform in a prior work, and the superiority of the former concerning the dynamic positioning capabilities, and the power consumption is shown.