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- W162639572 abstract "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." @default.
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- W162639572 date "2012-05-02" @default.
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- W162639572 title "A control allocation method for over-actuated underwater robot" @default.
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