Model predictive control of an autonomous vessel

Alokacija aktuatora je postupak pretvaranja signala regulatora u potrebne sile i momente kako bi se ostvarila željena ukupna sila i moment koji djeluju na vozilo. Upravljanje nadaktuiranim autonomnim plovilima je složen zadatak iz razloga što ne postoji jednoznačno rješenje problema inverzne alokacije aktuatora. U sklopu diplomskog rada implementiran je algoritam modelsko prediktivnog upravljanja alokacijom aktuatora autonomnog plovila. Platformom se upravlja pomoću četiri potisnika (aktuatora) raspoređenih u X-konfiguraciji kojima se ostvaruje gibanje u tri stupnja slobode (napredovanje, zanošenje i zaošijanje). Fizikalna ograničenja aktuatora su uzeta u obzir. Algoritam je realiziran u ROS-u. Poseban naglasak stavljen je na analizu vladanja algoritma prilikom kvara jednog ili više aktuatora.Allocation of actuators is the process of converting controller signal in the necessary forces and torques in order to achieve the desired total force and torque that act on vehicle. Control of overactuated autonomous vessels is a complex task because there is no unique solution to the problem of inverse allocation of actuators. As part of the master's thesis, algorithm for model-based predictive control allocation of actuators for autonomous vessel has been implemented. The platform is controlled by the four thrusters (actuators) disposed in the X-configuration which achieves movement in three degrees of freedom (surge, sway and yaw). Physical limitations of the actuators are taken into consideration. The algorithm was implemented in ROS. Particular emphasis is placed on analysis of algorithm in case of failure one or more actuators