Thrust Allocation in Propulsion System of Underwater Robotic Vehicle via Linear Programming

Jerzy Garus

doi:10.4028/www.scientific.net/SSP.210.326

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Thrust Allocation in Propulsion System of Underwater Robotic Vehicle via Linear Programming
p.326

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Thrust Allocation in Propulsion System of Underwater Robotic Vehicle via Linear Programming

Abstract:

This paper focuses on a problem of power distribution in a multi-thrusters propulsion system of an underwater robot. The presented thrust allocation methods are directed towards minimization of energy expenditures necessary to obtain required control. A power/thrust relation is mapped by a linear function. Such approach allows using linear programming (LP) techniques to finding an optimal thrust allocation for demanded propulsive forces and moments. The LP models of thrust distribution are regarded for unconstrained and constrained allocation control.

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Periodical:

Solid State Phenomena (Volume 210)

Pages:

326-332

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.210.326

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Online since:

October 2013

Authors:

Jerzy Garus

Keywords:

Control Allocation, Optimal Thrust, Underwater Robot

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References

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