Trusters Allocation Matrix (TAM) Controller

A chainable controller that converts thrust from Cartesian space to thruster space. This is calculated by taking the pseudoinverse of the user-provided thruster allocation matrix (TAM) and multiplying it by the reference forces: pinv(TAM) x input.

Plugin Library

thruster_allocation_matrix_controller/ThrusterAllocationMatrixController

References

The input to this controller is a wrench with force components F_x, F_y, F_z and torque components T_rx, T_ry, T_rz in N and Nm, respectively.

Commands

The output of this controller is an N-dimensional vector whose elements represent the thrust associated with each thruster defined in the TAM.

Subscribers

• thruster_allocation_matrix_controller/reference [geometry_msgs::msg::Wrench]

Publishers

• thruster_allocation_matrix_controller/status [auv_control_msgs::msg::MultiActuatorStateStamped]

Parameters

• thrusters: List of thruster names. Should be provided in the same order as the TAM [N-sized string array]
• reference_controllers: List of the reference controllers. Used when setting up command interfaces for chained mode. Should be provided in the same order as the thrusters. [N-sized string array]
• TAM:
  • TAM_x: [N-sized double array]
  • TAM_y: [N-sized double array]
  • TAM_z: [N-sized double array]
  • TAM_rx: [N-sized double array]
  • TAM_ry: [N-sized double array]
  • TAM_rz: [N-sized double array]