An algorithm for determining permissible control inputs to unmanned Underwater Robotic Vehicle (URV) fitted with azimuth propellers

The paper deals with synthesis of automatic control system for an unmanned underwater robotic vehicle. The problem of determining permissible propulsive forces and moments necessary for optimum power distribution within a propulsion system composed of azimuth propellers (rotative ones). To allocate thrusts the unconstrained optimization method making it possible to obtain a minimum-norm solution, was applied. A method was presented for assessing propulsion system capability to generate propulsive forces (set control inputs). For the case of lack of such capability an algorithm was proposed making modification of their values and determination of feasible propulsive forces (i.e. permissible control inputs), possible. A numerical example which confirmed correctness and effectiveness of the proposed approach, was also attached.