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Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters

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Bibliographic Details
Title:	Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters
Authors:	Stanislav Solnyshkin
Source:	Robotics and Technical Cybernetics. 12:124-131
Publisher Information:	Russian State Scientific Center for Robotics and Technical Cybernetics, 2024.
Publication Year:	2024
Description:	The paper considers a problem of a mobile over-actuated underwater reconfigurable robot motion control using azimuth thrusters. To solve the control allocation problem, a configurator has been introduced into the control sys-tem. This makes it possible to synthesize the control law regardless of the number, position and type of the propul-sion-steering complex components. A control allocation algorithm is studied to determine both the control and the orientations of the azimuth thrusters.
Document Type:	Article
ISSN:	2310-5305
DOI:	10.31776/rtcj.12206
Accession Number:	edsair.doi...........4e30dd4540c0cd2989ebcfeb4b0aee04
Database:	OpenAIRE

Description
Abstract:	The paper considers a problem of a mobile over-actuated underwater reconfigurable robot motion control using azimuth thrusters. To solve the control allocation problem, a configurator has been introduced into the control sys-tem. This makes it possible to synthesize the control law regardless of the number, position and type of the propul-sion-steering complex components. A control allocation algorithm is studied to determine both the control and the orientations of the azimuth thrusters.
ISSN:	23105305
DOI:	10.31776/rtcj.12206