RECONFIGURATION OF REDUNDANT STRUCTURES OF SHIP ACTUATORS USING ZERO MOTION METHOD
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Date
2025
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Abstract
The article research the automatic
reconfiguration processes of redundant actuator structures,
targeting the transition to different objective functions while
eliminating disturbing forces and torques. While redundant
structures are commonly employed to enhance control system
reliability, the inherent control redundancy can also be
exploited to optimize control and improve system efficiency.
Acknowledging the objective-function dependence of optimal
configurations, this work presents a zero-motion
reconfiguration method designed to minimize disturbances
during transitions. The method leverages an onboard computer
to solve an optimization problem defined by equality constraints
(ensuring zero disturbances) and inequality constraints
(representing physical limitations). By calculating appropriate
control commands, the method allows the structure to be
optimally tuned while performing its primary functional task.
Mathematical modeling in MATLAB validaWed Whe meWhod¶s
performance and efficiency. The reproducible results are
relevant to the design of automatic control systems for
redundant ship actuator structures.
Description
Zinchenko, S., Tovstokoryi, O., Popovych, I., Nosov, P., Onyshko, D., & Kalinichenko, Y. (2025). Reconfiguration of Redundant Structures of Ship Actuators Using Zero Motion Method, 2025 15th International Conference on Advanced Computer Information Technologies (ACIT), Sibenik, Croatia. 2025, pp. 948-953. DOI: 10.1109/ACIT65614.2025.11185810.
Keywords
Intelligent systems, navigation safety, automated systems, redundant control, redundant structure reconfiguration