Agricultural Engineering, Volume 44, Number 1

THRUST ALLOCATION METHOD FOR OVERACTUATED UNDERWATER ROBOTIC VEHICLE

Jerzy Garus
Polish Naval Academy, Mechanical – Electrical Faculty

Abstract

The paper describes a method of thrusts allocation in a propulsion system of an
underwater robotic vehicle. The vehicle has no other actuators except thrusters so motion
and positioning is realised only by change of developed thrusts. A proposed control
allocation method has been tested in cases of a fault-free work of the propulsion system and
failure of the thruster. A worked out algorithm basis on decomposition of the thruster
configuration matrix allows obtaining a minimum Euclidean norm solution. Due to
computational simplicity, obtained by applying of singular value decomposition, the
proposed approach seems to be an attractive solution for practical applications.

Keyword(s): Underwater robot, propulsion system, power distribution.


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Agricultural Engineering ISSN 1392-1134 / eISSN 2345-0371

This journal is published under the terms of the Creative Commons Attribution-Noncommercial 3.0 Unported License. Responsible editor: Dr A. Žunda.