Passive fault tolerant control allocation for small unmanned underwater vehicle

The paper presents methods of control allocation in a multi-thruster propulsion system of a small torpedo-shaped underwater vehicle. It concentrates on finding an optimal thrust distribution among thrusters for demanded values of propulsive forces and moments. The approach is directed towards minimisation of energy expenditures necessary to obtain required control. Special attention is paid to the unconstrained thrust allocation for both a faultless and faulty work of the propulsion system. The developed algorithms are designed to be modular, interchangeable and highly computationally efficient. Illustrative examples are inserted to demonstrate correctness and simplicity of proposed thrust allocation methods.

• Record URL:
  • https://doi.org/10.1080/20464177.2017.1384442
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/20464177
• Supplemental Notes:
  • © 2017 Institute of Marine Engineering, Science & Technology. Abstract republished with permission of Taylor & Francis.
• Authors:
  • Garus, Jerzy
  • Studanski, Ryszard
  • Batur, Tomislav
• Publication Date: 2017

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 420-424
• Serial:
  • Journal of Marine Engineering & Technology
  • Volume: 16
  • Issue Number: 4
  • Publisher: Taylor & Francis
  • ISSN: 2046-4177
  • Serial URL: http://www.tandfonline.com/tmar20

Subject/Index Terms

• TRT Terms: Algorithms; Control systems; Fault tolerance; Fault tolerant computing; Optimization; Propulsion; Thrust; Thrusters; Underwater vehicles; Vehicle power plants
• Uncontrolled Terms: Unmanned undersea vehicles
• Subject Areas: Data and Information Technology; Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01670742
• Record Type: Publication
• Files: TRIS
• Created Date: May 29 2018 4:03PM