Open AccessOptimal Control Allocation for AUVs with Through-body Thrusters
Author(s) -
В. В. Костенко,
Anton Yu. Tolstonogov
Publication year - 2022
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/988/3/032062
Subject(s) - propulsion , control (management) , computer science , control theory (sociology) , optimal allocation , motion (physics) , simulation , control engineering , engineering , mathematical optimization , aerospace engineering , mathematics , artificial intelligence
Developing multi-purpose AUV with through-body thrusters capable of undertaking both survey-style missions and low-speed interaction requires sophisticated thruster allocation algorithms. The paper presents the adaptive optimal allocation method. This method allows a smooth transition between different motion styles by exponentially decreasing through-body thrusters’ involvement according to their hydrodynamic model. The proposed method is compared with the prioritized direct allocation method. The simulation result of the control allocation for the AUV “MMT-300” propulsion system model is provided.