Implementing an Adaptive Thrust Distribution Algorithm on the Robust Control System for Serial Split-Hull Underwater Vehicles

This paper discusses designing and implementing an adaptive thrust distribution algorithm on the already robust control system for serial split-hull underwater vehicles to maximise operational efficiency. Split-hull underwater vehicles are gaining popularity in subsea operations due to their flexible hyper-redundant design and enhanced manoeuvrability. These features facilitate them to replace conventional solutions, including torpedo-shaped Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs). The field of research is currently undergoing a considerable transition toward operations on subsea activities that are more economical and efficient. Thus, implementing a robust and energy-efficient control system is of utmost importance. The robust Super Twisting Algorithm (STA) based control system is used on the vehicle, and an adaptive thrust distribution algorithm is proposed and implemented to optimise the energy efficiency further. The work involves modelling the vehicle, fluid forces, torque effects, and thruster configuration matrix and implementing the adaptive weight distribution on the STA-based control system. With the help of simulations, the improvements in the control system are proved.