Over-actuated surface vessels require control–allocation strategies that compute commands based on a surge–sway–yaw force vector among multiple independently steerable thrusters without violating actuator constraints. Conventional methods either solve a constrained optimization at every control step—incurring variable computational load—or apply pseudo-inverse heuristics that risk constraint violations. This thesis derives a closedform, limit-aware solution for a Unmanned Surface Vessel with two independent, steerable thrusters that achieves optimal accuracy with constant-time complexity. The proposed framework recasts allocation as an analytic inverse-kinematics problem. The attainable force workspace is partitioned into sixteen mutually exclusive operating classes, each defined by saturating two actuator variables (thrust or angle) at their nearest limits. Within each class, concise algebraic expressions yield the remaining control commands, and a scalar factor rescales end-point solutions to any interior point. A deterministic decision tree, synthesized from twenty-six boundary inequalities, selects the unique feasible class in O(1) time while guaranteeing respect for asymmetric thrust bounds for stern mounted thrusters and reduced steering envelopes of (|φ| ≤ 90°). By unifying analytic transparency with real-time efficiency, the closed-form solution presented here establishes a robust foundation for precision station keeping, autonomous docking, and fault-tolerant maneuvering of future over-actuated surface vessels operating under stringent actuator constraints.
","abstract_html":"<p>Over-actuated surface vessels require control–allocation strategies that compute commands based on a surge–sway–yaw force vector among multiple independently steerable thrusters without violating actuator constraints. Conventional methods either solve a constrained optimization at every control step—incurring variable computational load—or apply pseudo-inverse heuristics that risk constraint violations. This thesis derives a closedform, limit-aware solution for a Unmanned Surface Vessel with two independent, steerable thrusters that achieves optimal accuracy with constant-time complexity. The proposed framework recasts allocation as an analytic inverse-kinematics problem. The attainable force workspace is partitioned into sixteen mutually exclusive operating classes, each defined by saturating two actuator variables (thrust or angle) at their nearest limits. Within each class, concise algebraic expressions yield the remaining control commands, and a scalar factor rescales end-point solutions to any interior point. A deterministic decision tree, synthesized from twenty-six boundary inequalities, selects the unique feasible class in O(1) time while guaranteeing respect for asymmetric thrust bounds for stern mounted thrusters and reduced steering envelopes of (|φ| ≤ 90°). By unifying analytic transparency with real-time efficiency, the closed-form solution presented here establishes a robust foundation for precision station keeping, autonomous docking, and fault-tolerant maneuvering of future over-actuated surface vessels operating under stringent actuator constraints.</p>","abstract_has_math":false,"creators":["Aggarwal, Sarthak"],"institution":null,"degree_name":"Master of Science in Unmanned and Autonomous Systems Engineering","degree_level":"Thesis - ERAU Login Required","degree_discipline":"Electrical Engineering and Computer Science","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-07-01T07:00:00Z","date_published":"2025-07-01T07:00:00Z","updated_at":"2026-07-27T19:26:16Z","subjects":["Marine","Holonomic","Azimuth","Controls and Control Theory","Robotics"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://commons.erau.edu/edt/918","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Aggarwal, Sarthak"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.available","label":"Dc Date Available","values":["2035-01-01T08:00:00Z"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical Engineering and Computer Science"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis - ERAU Login Required"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science in Unmanned and Autonomous Systems Engineering"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Marine","Holonomic","Azimuth","Controls and Control Theory","Robotics"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://commons.erau.edu/edt/918"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Over-actuated surface vessels require control–allocation strategies that compute commands based on a surge–sway–yaw force vector among multiple independently steerable thrusters without violating actuator constraints. Conventional methods either solve a constrained optimization at every control step—incurring variable computational load—or apply pseudo-inverse heuristics that risk constraint violations. This thesis derives a closedform, limit-aware solution for a Unmanned Surface Vessel with two independent, steerable thrusters that achieves optimal accuracy with constant-time complexity. The proposed framework recasts allocation as an analytic inverse-kinematics problem. The attainable force workspace is partitioned into sixteen mutually exclusive operating classes, each defined by saturating two actuator variables (thrust or angle) at their nearest limits. Within each class, concise algebraic expressions yield the remaining control commands, and a scalar factor rescales end-point solutions to any interior point. A deterministic decision tree, synthesized from twenty-six boundary inequalities, selects the unique feasible class in O(1) time while guaranteeing respect for asymmetric thrust bounds for stern mounted thrusters and reduced steering envelopes of (|φ| ≤ 90°). By unifying analytic transparency with real-time efficiency, the closed-form solution presented here establishes a robust foundation for precision station keeping, autonomous docking, and fault-tolerant maneuvering of future over-actuated surface vessels operating under stringent actuator constraints.
"]},{"key":"dc:title","label":"Title","values":["Deriving a Closed-Form Solution for Over-Actuated Surface Vessels with Actuator Constraints"]}]}],"canonical_facts":{"dc:creator":["Aggarwal, Sarthak"],"dc:date.available":["2035-01-01T08:00:00Z"],"dc:description.abstract":["Over-actuated surface vessels require control–allocation strategies that compute commands based on a surge–sway–yaw force vector among multiple independently steerable thrusters without violating actuator constraints. Conventional methods either solve a constrained optimization at every control step—incurring variable computational load—or apply pseudo-inverse heuristics that risk constraint violations. This thesis derives a closedform, limit-aware solution for a Unmanned Surface Vessel with two independent, steerable thrusters that achieves optimal accuracy with constant-time complexity. The proposed framework recasts allocation as an analytic inverse-kinematics problem. The attainable force workspace is partitioned into sixteen mutually exclusive operating classes, each defined by saturating two actuator variables (thrust or angle) at their nearest limits. Within each class, concise algebraic expressions yield the remaining control commands, and a scalar factor rescales end-point solutions to any interior point. A deterministic decision tree, synthesized from twenty-six boundary inequalities, selects the unique feasible class in O(1) time while guaranteeing respect for asymmetric thrust bounds for stern mounted thrusters and reduced steering envelopes of (|φ| ≤ 90°). By unifying analytic transparency with real-time efficiency, the closed-form solution presented here establishes a robust foundation for precision station keeping, autonomous docking, and fault-tolerant maneuvering of future over-actuated surface vessels operating under stringent actuator constraints.
"],"dc:identifier":["https://commons.erau.edu/edt/918"],"dc:subject":["Marine","Holonomic","Azimuth","Controls and Control Theory","Robotics"],"dc:title":["Deriving a Closed-Form Solution for Over-Actuated Surface Vessels with Actuator Constraints"],"thesis:degree_discipline":["Electrical Engineering and Computer Science"],"thesis:degree_level":["Thesis - ERAU Login Required"],"thesis:degree_name":["Master of Science in Unmanned and Autonomous Systems Engineering"]},"updated_at":"2026-07-27T19:26:16Z"}