A control allocation method for over-actuated underwater robot

  • Authors:

  • Jerzy Garus;Józef Małecki

  • Affiliations:

  • Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, Smidowicza 69, Poland;Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, Smidowicza 69, Poland

  • Venue:
  • BICA'12 Proceedings of the 5th WSEAS congress on Applied Computing conference, and Proceedings of the 1st international conference on Biologically Inspired Computation
  • Year:
  • 2012

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Abstract

The paper describes a method of thrusts allocation in a propulsion system of an underwater robot. The robot 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 an orthogonal matrix, the proposed approach seems to be an attractive solution for practical applications.