Optimal control allocation method for the autonomous underwater vehicle with big and small rudders layout
ZHANG Xin
HU Zhi-qiang
LIU Jian
ZENG Jun-bao
Abstract：In order to improve the fault-tolerant control ability of medium-high speed autonomous underwater vehicle(AUV)and take into account maneuverability and control accuracy,an AUV rudder layout strategy of"asymmetric X-type stern rudder+small horizontal bow rudder"is proposed and an efficient control allocation method is studied.The small rudders are preferred to improve the control accuracy when the torque demand is small,and all the rudders cooperate to meet the maneuverability demand when the torque demand is large.Then a control allocation model suitable for the layout strategy is established and the model is transformed to a quadratic programming problem.The two-stage method is used to solve the model:the stage of determining the enable of the large rudders and the stage of solving the demand of the small rudders.The operator splitting quadratic program(OSQP)method is used to solve the quadratic programming problem.In the OSQP method,firstly,the low and medium precision solution is obtained by fast iteration,and then the solution precision is processed once.Finally,the effectiveness of the proposed method is verified by the simulation of maneuverability and accuracy,fault-tolerant control and the comparison of solving efficiency of different quadratic programming methods.
Keywords：autonomous underwater vehicleX-ruddercontrol allocationquadratic programmingfault tolerant con-trolOSQP
Publication Date：2025-05-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 885-891 )