A method of power distribution in the power transmission system of a remotely operated vehicle

The paper addresses a method of distribution of propulsion for an unmanned underwater vehicle. The method is developed on basis of the decomposition of a configuration matrix describing the layout of thrusters in a power transmission system. The proposed solution of power distribution is worked out for the control system of the remotely operated vehicle ''Ukwiał'' designed and built for the Polish Navy. The algorithm has been tested for track-keeping control both for faultless work of thrusters and failure of one
of them. Some computer simulations are provided to demonstrate the effectiveness and correctness of the approach.