Controlling an overactuated vehicle with application to an autonomous surface vehicle utilizing azimuth thrusters

Author

Patel, Dinesh ; Frank, Daniel ; Crane, Carl

Author_Institution

Dept. of Mech. Eng., Univ. of Florida, Gainesville, FL, USA

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

745

Lastpage

750

Abstract

A control algorithm for allocating control effort to a generic overactuated system is designed. In the case where redundant actuators in the system allow for an infinite number of possible solutions to a desired trajectory, the controller must decide which solution to take. A PD controller is implemented to solve for the desired force and moment of the trajectory. Once the forces and the moments are acquired, a cost function is utilized to help guide the choice of the actuator configuration. This control method is then validated through the simulation of an autonomous surface vehicle that is utilizing an azimuth thruster propulsion system.

Keywords

PD control; actuators; control system synthesis; marine propulsion; marine vehicles; remotely operated vehicles; PD controller; actuator configuration; autonomous surface vehicle; azimuth thruster propulsion system; control algorithm; cost function; overactuated system; proportional-derivative controller; redundant actuators; Adaptation models; Force; Timing; Autonomous Surface Vehicle; Azimuth Thruster; Control Allocation; Overactuated Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6987878

Filename

6987878