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

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Titel: Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters
Autoren: Stanislav Solnyshkin
Quelle: Robotics and Technical Cybernetics. 12:124-131
Verlagsinformationen: Russian State Scientific Center for Robotics and Technical Cybernetics, 2024.
Publikationsjahr: 2024
Beschreibung: 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.
Publikationsart: Article
ISSN: 2310-5305
DOI: 10.31776/rtcj.12206
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Datenbank: OpenAIRE
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  Data: Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters
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  Data: <i>Robotics and Technical Cybernetics</i>. 12:124-131
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  Data: 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.
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