Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

• Type: Article in International Scientific Journal
• Date: 2021

Authors

Mathaus Ferreira da Silva (Author) Other; Leonardo de Mello Honório (Author) Other; Murillo Ferreira dos Santos (Author) Other; Accacio Ferreira dos Santos Neto (Author) Other; Nuno Cruz (Author) FEUP; Aníbal Castilho Coimbra de Matos (Author) FEUP; Luis Gustavo Fortes Westin (Author) Other

Journal

Title: IEEE Access

Vol. 9

Pages: 5212-5227

ISSN: 2169-3536

Publisher: IEEE

Indexing

ISI Web of Knowledge - 5 Citations

Other information

Authenticus ID: P-00T-9YW

DOI: 10.1109/access.2020.3048330

Abstract (EN): To gather hydrological measurements is a difficult task for Autonomous Surface Vessels. It is necessary for precise navigation considering underwater obstacles, shallow and fast water flows, and also mitigate misreadings due to disturbs caused by their propulsion system. To deal with those problems, this paper presents a new topology of an Autonomous Surface Vessel (ASV) based on a catamaran boat with an aerial propulsion system with azimuth control. This set generates an over-actuated 3 Degree of Freedom (DoF) ASV, highly maneuverable and able of operating over the above-mentioned situations. To deal with the high computational cost of the over-actuated control allocation (CA) problem, this paper also proposes a Fast CA (FCA) approach. The FCA breaks the initial nonlinear system into partially-dependent linear subsystems. This approach generates smaller connected systems with overlapping solution spaces, generating fast and robust convergence, especially attractive for embedded control devices. Both proposals, i.e., ASV and FCA, are assessed through mathematical simulations and real scenarios.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 16