本研究通過整合三個子功能：軌跡產生器、非線性控制律和限制性動力分配，提出了一種考慮致動器限制的魚雷型水下載具軌跡追蹤問題的控制系統。為了將所需的非線性控制律精確地轉換為安裝在魚雷型水下航行器上的執行器的輸入命令，本文提出了一種最佳化限制性動力分配技術。根據最佳動力分配技術，所需的非線性控制律將被最佳分配給致動器的輸出命令，通過實際實驗識別每個致動器的I/O數據，用以構建每個致動器的I/O命令的數學轉換。為了驗證所提出的動力分配技術的實用性，本研究模擬了具有4個鰭、4個舵和1個推進器的魚雷型水下載具的強健軌跡追蹤場景。

This investigation proposed a control system considering actuators’ limitations for the trajectory tracking problem of torpedo-type underwater vehicle by integrating three sub-functions: smooth trajectory generator, nonlinear control law, and constrained control allocation. For precisely transforming the required nonlinear control law into the input commands of the actuators installed on torpedo-type underwater vehicles, an optimal constraint control allocation technique is presented in this paper. Depending on the optimal control allocation technique, the desired nonlinear control law will be optimally assigned to the output commands of the actuators. Afterward, the transformation in mathematics for the I/O commands of each actuator can be constructed by identifying the I/O data of each actuator through actual experiments. To verify the utility of the presented control allocation technique, this study simulates the robust trajectory tracking scenario of a torpedo-type underwater vehicle with 4 fins, 4 rudders, and 1 thruster.