Optimal Control Allocation for AUVs with Through-body Thrusters

Abstract

Developing multi-purpose AUV with through-body thrusters capable of undertaking both survey-style missions and low-speed interaction requires sophisticated thruster allocation algorithms. The paper presents the adaptive optimal allocation method. This method allows a smooth transition between different motion styles by exponentially decreasing through-body thrusters’ involvement according to their hydrodynamic model. The proposed method is compared with the prioritized direct allocation method. The simulation result of the control allocation for the AUV “MMT-300” propulsion system model is provided.