Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters

Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters

Stanislav A. Solnyshkin
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Programmer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: 7(999)216-15-12, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received October 18, 2023

Abstract
The paper considers a problem of a mobile over-actuated underwater reconfigurable robot motion control using azimuth thrusters. To solve the control allocation problem, a configurator has been introduced into the control system. This makes it possible to synthesize the control law regardless of the number, position and type of the propulsion-steering complex components. A control allocation algorithm is studied to determine both the control and the orientations of the azimuth thrusters.

Key words
Over-actuated underwater robot, control allocation, control system, azimuth thruster.

Acknowledgements
The results were obtained within the framework of the Ministry of Higher Education and Science of Russian Federation 2023 № 075-01595-23-00 от 26.12.2022 FNRG-2022-0017 1021060307691-2-1.2.1;2.2.2 «Development of a theory for the synthesis of optimal control of hyper-redundant underwater-based robots in conditions of unpredictable unsteady currents and flows».

DOI
10.31776/RTCJ.12206

Bibliographic description
Solnyshkin, S.A. (2024), "Study of control allocation algorithm for over-actuated underwater robot motion control using azimuth thrusters", Robotics and Technical Cybernetics, vol. 12, no. 2, pp. 124-131, DOI: 10.31776/RTCJ.12206. (in Russian).

UDC identifier
681.51:629.58:007.52

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