Motion control of an autonomous underwater vehicle with an adaptive feature

Naomi Ehrich Leonard, P. S. Krishnaprasad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

In the event of an actuator failure in an autonomous underwater vehicle (AUV), it is possible to maintain controllability despite the change in control authority. One, however, expects to have to change the feedforward motion script (plan). Here we present tools to discuss such an adaptive feature in the feedforward path of an AUV control system. We confine ourselves to kinematic models and give an illustration of the main ideas in an example of a 'parking maneuver' for an AUV.

Original languageEnglish (US)
Title of host publicationIEEE Sympsium on Autonomous Underwater Vehicle Technology
PublisherIEEE
Pages283-288
Number of pages6
StatePublished - Dec 1 1994
Externally publishedYes
EventProceedings of the 1994 IEEE Symposium on Autonomous Underwater Vehicle Technology - Cambridge, MA, USA
Duration: Jul 19 1994Jul 20 1994

Other

OtherProceedings of the 1994 IEEE Symposium on Autonomous Underwater Vehicle Technology
CityCambridge, MA, USA
Period7/19/947/20/94

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Leonard, N. E., & Krishnaprasad, P. S. (1994). Motion control of an autonomous underwater vehicle with an adaptive feature. In IEEE Sympsium on Autonomous Underwater Vehicle Technology (pp. 283-288). IEEE.