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- W3041004060 abstract "The paper concentrates on a problem of distributing control effort among multiple, redundantactuators in a propulsion system of a small torpedo-shaped unmanned underwater vehicle. The vehicle has noother actuators except thrusters so motion and positioning is realised only by change of their developed thrusts.The control allocation strategy used to map desired forces and torques to thrusts on all actuators is defined as anunconstrained model based optimisation problem. Such a solution is computationally efficiently but, in realconditions, when physical limitations are not taken into account it may be unrealized and cause temporarily lossof vehicle’s controllability. To avoid a such situation a procedure of checking of capability of the propulsionsystem to produce demanded generalized forces is proposed to be introduced to the process of powerdistribution. The procedure, taking into account actuators constraints, allows to find such values of thegeneralized forces for which the distribution can be done correctly. To illustrate the proposed method anumerical example is given in the work." @default.
- W3041004060 created "2020-07-16" @default.
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- W3041004060 date "2019-01-01" @default.
- W3041004060 modified "2023-09-26" @default.
- W3041004060 title "Procedures of Power Distribution in Propulsion System of Torpedo-shaped Underwater Vehicle" @default.
- W3041004060 hasPublicationYear "2019" @default.
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