A survey of control allocation methods for underwater vehicles

Title: A survey of control allocation methods for underwater vehicles
Creator: Fossen, Thor I.; Johansen, Tor Arne; Perez, Tristan
Relation: Underwater Vehicles p. 109-128
Relation: http://www.intechopen.com/articles/show/title/a_survey_of_control_allocation_methods_for_underwater_vehicles
Publisher: InTech
Resource Type: book chapter
Date: 2009
Description: A control allocation system implements a function that maps the desired control forces generated by the vehicle motion controller into the commands of the different actuators. In this article, a survey of control allocation methods for over-actuated underwater vehicles is presented. The methods are applicable for both surface vessels and underwater vehicles. The paper presents a survey of control allocation methods with focus on mathematical representation and solvability of thruster allocation problems. The paper is useful for university students and engineers who want to get an overview of state-of-the art control allocation methods as well as advance methods to solve more complex problems.
Subject: control allocation; underwater vehicles; thruster allocation
Identifier: uon:8600
Identifier: http://hdl.handle.net/1959.13/918425
Identifier: ISBN:9789537619497
Full Text

		Thumbnail	File	Description	Size	Format
View Details Download			ATTACHMENT01	Publisher version (open access)	1 MB	Adobe Acrobat PDF	View Details Download