Details

Autor(en) / Beteiligte

• da Silva, Mathaus Ferreira
• de Mello Honorio, Leonardo Mello
• dos Santos, Murillo Ferreira
• dos Santos Neto, Accacio Ferreira
• Cruz, Nuno Alexandre
• Matos, Anibal C. C.
• Westin, Luis Gustavo Fortes

Titel

Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

Ist Teil von

• IEEE access, 2021, Vol.9, p.5212-5227

Ort / Verlag

Piscataway: IEEE

Erscheinungsjahr

2021

Quelle

EZB Electronic Journals Library

Beschreibungen/Notizen

• To gather hydrological measurements is a difficult task for Autonomous Surface Vessels. It is necessary for precise navigation considering underwater obstacles, shallow and fast water flows, and also mitigate misreadings due to disturbs caused by their propulsion system. To deal with those problems, this paper presents a new topology of an Autonomous Surface Vessel (ASV) based on a catamaran boat with an aerial propulsion system with azimuth control. This set generates an over-actuated 3 Degree of Freedom (DoF) ASV, highly maneuverable and able of operating over the above-mentioned situations. To deal with the high computational cost of the over-actuated control allocation (CA) problem, this paper also proposes a Fast CA (FCA) approach. The FCA breaks the initial nonlinear system into partially-dependent linear subsystems. This approach generates smaller connected systems with overlapping solution spaces, generating fast and robust convergence, especially attractive for embedded control devices. Both proposals, i.e., ASV and FCA, are assessed through mathematical simulations and real scenarios.