Paper Info
Title
Thrust Optimal Allocation for Broad Types of Underwater Vehicles.
Abstract
Effective thrust allocation for underwater vehicle is very important to realize complex control task. In order to generate optimal thrust allocation according to control command, a thrust optimal allocation scheme has been designed for broad type of underwater vehicles. Corresponding to horizontal and vertical thruster configuration, a force allocation model has been established to realize optimal allocation. Infinity-norm optimization has been combined with 2-norm optimization to construct a bi-criteria primal-dual neural network optimal allocation scheme. In the experiment of open frame remote operated vehicle, bi-criteria primal-dual optimization outperformed 2-norm optimization in the fault tolerance control and accurate path following. In the thrust optimal allocation simulations for underwater vehicle manipulator system, 4 vertical thrust have been optimal allocated to realize diving and attitude maintenance successfully during manipulation process. Thus the thrust optimal allocation has been verified.
Year
DOI
Venue
2016
10.1007/978-3-319-41009-8_53
ADVANCES IN SWARM INTELLIGENCE, ICSI 2016, PT II
Keywords
Field
DocType
Thrust allocation,Optimal allocation,Bi-criteria optimization
Mathematical optimization,Control theory,Computer science,Manipulator,Path following,Fault tolerance,Underwater vehicle,Artificial neural network,Thrust,Underwater
Conference
Volume
ISSN
Citations 
9713
0302-9743
1
PageRank 
References 
Authors
0.36
0
6
Name
Order
Citations
PageRank
Hai Huang110.70
Guocheng Zhang221.74
Yi Yang3436.50
Jin-yu Xu410.36
Ji-yong Li510.70
Lei Wan610.36