Constrained Nonlinear Control Allocation of a 7000m Manned Submarine Using Sequential Quadratic Programming

This paper analyses the propulsion system of a 7000m manned submarine,offers a 6-dof thrust conversion model,and discusses its optimal control allocation problem in particular.The cost function of the optimal problem is designed,considering the manned submarine thruster configuration and properties.Constrained nonlinear control allocation problem of the manned submarine is resolved with sequential quadratic programming algorithm.Finally,correctness and validity of the control allocation algorithm is validated by experiments on a semi-physical simulation platform.