Abstract
The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described.
Original language | English (US) |
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Pages (from-to) | 211-220 |
Number of pages | 10 |
Journal | IEEE Journal of Oceanic Engineering |
Volume | 20 |
Issue number | 3 |
DOIs | |
State | Published - Jul 1995 |
Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Ocean Engineering
- Mechanical Engineering
- Electrical and Electronic Engineering