具致動器限制之水下載具控制系統設計

This investigation proposed a control system considering actuators' limitations for the trajectory tracking problem of torpedo-type underwater vehicle by integrating three sub-functions: smooth trajectory generator, nonlinear control law, and constrained control allocation. For precisely transforming the required nonlinear control law into the input commands of the actuators installed on torpedo-type underwater vehicles, an optimal constraint control allocation technique is presented in this paper. Depending on the optimal control allocation technique, the desired nonlinear control law will be optimally assigned to the output commands of the actuators. Afterward, the transformation in mathematics for the I/O commands of each actuator can be constructed by identifying the I/O data of each actuator through actual experiments. To verify the utility of the presented control allocation technique, this study simulates the robust trajectory tracking scenario of a torpedo-type underwater vehicle with 4 fins, 4 rudders, and 1 thruster.