Abstract
In order to solve the problem of redundant thrust allocation of HITUWV, the mathematical model of the vector propulsion system is firstly established, thus the relationship between thrusters and 6-DOF force and torque on HITUWV can be obtained. Then, a novel LS-QP-Switch allocation strategy is proposed which can realize optimal energy consumption allocation under the prerequisite of thrust saturation constraints and real-time computing. The effectiveness of the proposed LS-QP-Switch allocation strategy is verified via simulations and experiments.
| Translated title of the contribution | Thrust allocation strategy of underwater vehicle with redundant thrusters based on LS-QP-switch |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 2274-2287 |
| Number of pages | 14 |
| Journal | Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) |
| Volume | 50 |
| Issue number | 6 |
| DOIs | |
| State | Published - 1 Nov 2020 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
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