Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution

Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution

The overall control system for an open-frame Remotely Operated Vehicle (ROV) is typically built from three subsystems: guidance, navigation and control (GNC). The control allocation plays a vital role in the control subsystem. Typically, open-frame underwater vehicles have p actuators (thrusters) fo...

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Bibliographic Details
Main Authors: Edin Omerdic, Petar Trslic, Admir Kaknjo, Anthony Weir, Muzzafar Rao, Gerard Dooly, Daniel Toal
Format: Article
Language:English
Published: MDPI AG 2020-01-01
Series:Robotics
Subjects:
fault-tolerant control
control allocation
rov
Online Access:https://www.mdpi.com/2218-6581/9/1/7

Internet

https://www.mdpi.com/2218-6581/9/1/7

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