Year: 2025
Type: article
Abstract: This paper presents a fault-tolerant thruster configuration scheme and a thrust control allocation strategy for an underwater vehicle. First, to accommodate the vehicle’s flexible spatial motion capabilities and address potential thruster failures, an 8-thruster vector arrangement is designed, and the impact of thruster failures on vehicle maneuverability is analyzed. Based on this configuration, a mathematical model of the vector propulsion system is then developed, establishing the relationship between the thrust generated by the individual thrusters and the virtual control forces applied to the vehicle’s 6 degrees of freedom (DOF). Subsequently, a thrust allocation strategy based on quadratic programming (QP) is proposed to optimize thrust allocation, enhancing energy efficiency while satisfying thrust saturation constraints. Finally, simulation results demonstrate that the proposed thruster configuration exhibits strong fault-tolerance. Moreover, compared to the least squares (LS) method based on the pseudo-inverse of the configuration matrix, the QP-based thrust allocation strategy achieves significantly better energy-saving performance.
Source: Mathematics
DOI: 10.3390/math13111766
Authors: Liping Deng, Jianguo Tao
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
Award: G3305323311
OpenAlex ID: W4410788744