Open AccessA comparative analysis of control allocation methods applied to autonomous underwater vehicles
Author(s) -
В. В. Костенко,
Anton Yu. Tolstonogov
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1864/1/012145
Subject(s) - underwater , propulsion , control (management) , actuator , computer science , power (physics) , control theory (sociology) , engineering , artificial intelligence , aerospace engineering , geography , physics , archaeology , quantum mechanics
The report presents a comparative analysis of various control allocation methods by taking into account an over-actuated propulsion system and actuator constraints for autonomous underwater vehicles. Comparing methods by the size of a feasible control region, compute time, consumed power, and control error is presented. It is shown that the choice of an allocation method significantly affects the quality of control of an underwater vehicle and consumed power during maneuvers.