A control scheme for 360°thrust vectoring of cycloidal propellers with forward speed

This paper introduces a control scheme to vector thrust in marine cycloidal propellers with non-zero forward speed, despite the presence of measurement noise and current-like disturbances. Cycloidal utilize 360° thrust-vectoring provide agile maneuvering surface vessels like tugboats double ended ferries, but have yet be utilized present-day unmanned autonomous vehicles. work strategizes low-level propeller controller track reference magnitude direction for use high-level underwater Unlike previous that assumes zero inflow-speed, propeller-shaft speed propeller-blade phase are hydrodynamically coupled cases inflow. The incorporation this coupling enables thrust-tracking over varying advance-speeds necessary propulsion A torque screw is extended propellers. propeller-phase loop added resultant verified through simulations vectoring currents cruise speeds. will enable high maneuverability thrust-augmentation applications station-keeping, seakeeping, maneuvering, teaming vehicles complex environments surf zones restricted waters. • novel presented. Hydrodynamic between propeller-speed angle highlighted. Measurement disturbances water considered. High authority waters can achieved.