NDLI: The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

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The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Content Provider	Scilit
Author	Garus, Jerzy Żak, Bogdan
Copyright Year	2018
Description	This article addresses the practical aspects of the synthesis of an automatic control system for the thrust allocation strategy in the propulsion system of an unmanned underwater vehicle. The vehicle under consideration is a robot submarine equipped with a multi-propulsion system providing four degrees of freedom of movement. The power distribution algorithms are based on limited optimisation methods that allow the determination, on the basis of generalised torques and forces, of how much thrust is required to be produced by individual propulsors. Considering the issue of power distribution as a task of square and linear programming, two algorithms of thrust allocation were proposed and compared. The conducted model tests made it possible to evaluate their quality and efficiency in relation to speed and computational complexity.
Related Links	https://content.sciendo.com/downloadpdf/journals/phr/65/4/article-p39.pdf
ISSN	17347009
e-ISSN	20840535
DOI	10.2478/phr-2018-0022
Journal	Polish Hyperbaric Research
Issue Number	4
Volume Number	65
Language	English
Publisher	Walter de Gruyter GmbH
Publisher Date	2018-12-01
Access Restriction	Open
Subject Keyword	Journal: Polish Hyperbaric Research Polish Hyperbaric Research Marine Engineering Practical Aspects Thrust Allocation Propulsion System
Content Type	Text
Resource Type	Article

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