Thruster´s dead-zones compensation for the actuation system of an underwater vehicle

This paper addresses a control allocation method in order to compensate for the effect of thrusters´ dead-zones, on the actuation system of an underwater vehicle. This solution concurrently considers dead-zone effect and actuation limitation, in order to increase system reactivity. Moreover the impact on energy consumption is also considered. Experimental results are given to demonstrate the effectiveness and correctness of the proposed method.