Control Allocation Design for Torpedo-like Underwater Vehicles with Multiple Actuators

Yung Yue Chen, Chun Yen Lee, Ya Xuan Huang, Tsung Tso Yu

研究成果: Article同行評審

摘要

For solving the transformation problem between the desired nonlinear control laws and installed actuators’ input commands of torpedo-like underwater vehicles, one closed-form control allocation method is proposed in this article. The goal of this study is to optimally distribute the desired nonlinear control law to each single actuator installed on the torpedo-like underwater vehicle. The first step of this proposed control allocation method is to arrange the required types, numbers, and positions of the installed actuators and then build up the thrust configuration matrix for the developed torpedo-like underwater vehicle. In this step, the desired nonlinear control law can be optimally distributed to output commands of installed actuators based on the optimization method. Next, through collecting the input and output data of each installed actuator by practical experiments, the mathematical transformation of input and output commands of each installed actuator can be found. For verifying performance of this proposed control allocation method, simulations with the robust trajectory tracking design of a torpedo-like underwater vehicle with four fins, four rudders, and one thruster are executed in this investigation.

原文English
文章編號104
期刊Actuators
11
發行號4
DOIs
出版狀態Published - 2022 4月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 控制和優化

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