The paper considers a problem of a mobile over-actuated underwater reconfigurable robot motion control using azimuth thrusters. To solve the control allocation problem, a configurator has been introduced into the control sys-tem. This makes it possible to synthesize the control law regardless of the number, position and type of the propul-sion-steering complex components. A control allocation algorithm is studied to determine both the control and the orientations of the azimuth thrusters.
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Stanislav Solnyshkin (2024) studied this question.
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