Control Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicle

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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 languageEnglish (US)
Pages (from-to)211-220
Number of pages10
JournalIEEE Journal of Oceanic Engineering
Issue number3
StatePublished - Jul 1995
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Ocean Engineering
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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