학술논문
Thruster's dead-zones compensation for the actuation system of an underwater vehicle
Document Type
Conference
Author
Source
2015 European Control Conference (ECC) Control Conference (ECC), 2015 European. :741-746 Jul, 2015
Subject
Language
Abstract
This paper addresses a control allocation method in order to compensate for the effect of thrusters' dead-zones, on the actuation system of an underwater vehicle. This solution concurrently considers dead-zone effect and actuation limitation, in order to increase system reactivity. Moreover the impact on energy consumption is also considered. Experimental results are given to demonstrate the effectiveness and correctness of the proposed method.