A Control Allocation Method for Over-actuated Underwater Robot

摘要

The paper describes a method of thrusts allocation in a propulsion system of an underwater robot. The robot has no other actuators except thrusters so motion and positioning is realised only by change of developed thrusts. A proposed control allocation method has been tested in cases of a fault-free work of the propulsion system and failure of the thruster. A worked out algorithm basis on decomposition of the thruster configuration matrix allows obtaining a minimum Euclidean norm solution. Due to computational simplicity, obtained by applying of an orthogonal matrix, the proposed approach seems to be an attractive solution for practical applications.