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 |
| Dokumentencode: | edsair.doi...........4e30dd4540c0cd2989ebcfeb4b0aee04 |
| Datenbank: | OpenAIRE |
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