A survey of control allocation methods for underwater vehicles

Fossen, Thor I., Johansen, Tor Arne, & Perez, Tristan (2009) A survey of control allocation methods for underwater vehicles. In Underwater Vehicles. INTECH Open Access Publisher, Vienna, Austria, pp. 109-128.

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A control allocation system implements a function that maps the desired control forces generated by the vehicle motion controller into the commands of the different actuators. In this article, a survey of control allocation methods for over-actuated underwater vehicles is presented. The methods are applicable for both surface vessels and underwater vehicles. The paper presents a survey of control allocation methods with focus on mathematical representation and solvability of thruster allocation problems. The paper is useful for university students and engineers who want to get an overview of state-of-the art control allocation methods as well as advance methods to solve more complex problems.

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ID Code: 69626
Item Type: Book Chapter
Keywords: Robotics
ISBN: 9789537619497
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000)
Australian and New Zealand Standard Research Classification > TECHNOLOGY (100000)
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: The authors
Deposited On: 31 Mar 2014 22:48
Last Modified: 23 Jun 2017 14:45

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