engleski

Extension of Feasible Region of Control Allocation for Open-frame Underwater Vehicles

Standard pseudoinverse method for solution of the control allocation problem for overactuated open-frame underwater vehicle is able to find a feasible solution only on a subset of the attainable command set. This subset is called the feasible region for pseudoinverse. Some other methods, like direct control allocation or fixed point iteration method, are able to find the feasible solution on the entire attainable command set. A novel, hybrid approach for control allocation, proposed in this paper, is based on integration of the pseudoinverse and the fixed-point iteration method. It is implemented as a two-step process. The pseudoinverse soultion is found in the first step. Then the feasibility of the solution is examined analysing its individual components. If violation of actuator constraint(s) is detected, the fixed-point iteration method is activated in the second step. In this way, the hybrid approach is able to allocate the exact solution, optimal in the l2 sense, inside the entire attainable command set. This solution minimises a control energy cost function, the most suitable criteria for underawter applications.

Control allocation; feasible region; pseudoinverse; fixed-point method

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