A Constrained Thrust Allocation Algorithm for Remotely Operated Vehicles
Abstract
In this paper, the constrained thrust allocation problem is studied and solved for the class of over-actuated Remotely Operated Vehicles. In detail, we find the solution of the thrust allocation when the thrusters are affected by possible faults and, simultaneously, taking into account the thrusters’ saturation limits. The proposed thrust allocation algorithm is tested both numerically, with randomly generated input samples, and applied in...
Paper Details
Title
A Constrained Thrust Allocation Algorithm for Remotely Operated Vehicles
Published Date
Jan 1, 2018
Journal
Volume
51
Issue
29
Pages
250 - 255
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