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 language | English (US) |
|---|---|
| Title of host publication | IEEE Sympsium on Autonomous Underwater Vehicle Technology |
| Publisher | IEEE |
| Pages | 283-288 |
| Number of pages | 6 |
| State | Published - Dec 1 1994 |
| Externally published | Yes |
| Event | Proceedings of the 1994 IEEE Symposium on Autonomous Underwater Vehicle Technology - Cambridge, MA, USA Duration: Jul 19 1994 → Jul 20 1994 |
Other
| Other | Proceedings of the 1994 IEEE Symposium on Autonomous Underwater Vehicle Technology |
|---|---|
| City | Cambridge, MA, USA |
| Period | 7/19/94 → 7/20/94 |
All Science Journal Classification (ASJC) codes
- Engineering(all)