Email this article THRUST ALLOCATION METHOD FOR OVERACTUATED UNDERWATER ROBOTIC VEHICLE
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.
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.
Full Text:
PDF
Refbacks
- There are currently no refbacks.
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.