Title :
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
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-8-9932-1506-9
DOI :
10.1109/ICCAS.2014.6987878
