{"title":"Controlling an overactuated vehicle with application to an autonomous surface vehicle utilizing azimuth thrusters","authors":"Darsan R. Patel, D. Frank, C. Crane","doi":"10.1109/ICCAS.2014.6987878","DOIUrl":null,"url":null,"abstract":"A control algorithm for allocating control effort to a generic overactuated system is designed. In the case where redundant actuators in the system allow for an infinite number of possible solutions to a desired trajectory, the controller must decide which solution to take. A PD controller is implemented to solve for the desired force and moment of the trajectory. Once the forces and the moments are acquired, a cost function is utilized to help guide the choice of the actuator configuration. This control method is then validated through the simulation of an autonomous surface vehicle that is utilizing an azimuth thruster propulsion system.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"93 1","pages":"745-750"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAS.2014.6987878","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
A control algorithm for allocating control effort to a generic overactuated system is designed. In the case where redundant actuators in the system allow for an infinite number of possible solutions to a desired trajectory, the controller must decide which solution to take. A PD controller is implemented to solve for the desired force and moment of the trajectory. Once the forces and the moments are acquired, a cost function is utilized to help guide the choice of the actuator configuration. This control method is then validated through the simulation of an autonomous surface vehicle that is utilizing an azimuth thruster propulsion system.
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