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What is Thrust Allocation in Underwater Vehicles about?

This document discusses optimization of thrust allocation in the propulsion system of an underwater vehicle. It focuses on finding an optimal distribution of thrust from multiple thrusters to produce desired forces and moments on the vehicle. Methods for unconstrained thrust allocation are developed using a configuration matrix describing the layout of thrusters. Algorithms are provided for thrust distribution during normal operation and if a thruster fails. Examples demonstrate the effectiveness of the pro

Author

Rohan Gaonkar

Language

EN