A comparative analysis of control allocation methods applied to autonomous underwater vehicles

Abstract

The report presents a comparative analysis of various control allocation methods by taking into account an over-actuated propulsion system and actuator constraints for autonomous underwater vehicles. Comparing methods by the size of a feasible control region, compute time, consumed power, and control error is presented. It is shown that the choice of an allocation method significantly affects the quality of control of an underwater vehicle and consumed power during maneuvers.