Thruster control allocation for over-actuated, open-frame underwater vehicles

E. Omerdic; G. N. Roberts

doi:10.1049/PBCE069E_ch5

Thruster control allocation for over-actuated, open-frame underwater vehicles

E. Omerdic, G. N. Roberts

Department of Electronics & Computer Engineering

Coventry University

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

This chapter introduces a new hybrid approach associated with the thmster control allocation problem for over-actuated thruster-propelled open-frame underwater vehicles (UVs). The work presented herein is applicable to a wide class of control allocation problems, where the number of actuators is higher than the number of objectives. However, the application described here is focused on two remotely operated vehicles (ROVs) with different thruster configuration.

Original language	English
Title of host publication	Advances in Unmanned Marine Vehicles
Publisher	Institution of Engineering and Technology
Pages	87-104
Number of pages	18
ISBN (Electronic)	9781849190534
ISBN (Print)	9780863414503
DOIs	https://doi.org/10.1049/PBCE069E_ch5
Publication status	Published - 1 Jan 2006

Keywords

Actuators
Actuators
Open-frame underwater vehicles
Over actuated underwater vehicles
Remotely operated vehicles
Remotely operated vehicles
ROV
Thruster control allocation
Underwater vehicles
UV

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10.1049/PBCE069E_ch5

Cite this

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abstract = "This chapter introduces a new hybrid approach associated with the thmster control allocation problem for over-actuated thruster-propelled open-frame underwater vehicles (UVs). The work presented herein is applicable to a wide class of control allocation problems, where the number of actuators is higher than the number of objectives. However, the application described here is focused on two remotely operated vehicles (ROVs) with different thruster configuration.",

keywords = "Actuators, Actuators, Open-frame underwater vehicles, Over actuated underwater vehicles, Remotely operated vehicles, Remotely operated vehicles, ROV, Thruster control allocation, Underwater vehicles, UV",

author = "E. Omerdic and Roberts, {G. N.}",

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KW - Open-frame underwater vehicles

KW - Over actuated underwater vehicles

KW - Remotely operated vehicles

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ER -

Thruster control allocation for over-actuated, open-frame underwater vehicles

Abstract

Keywords

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