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.
Control synthesis and adaptation for an underactuated autonomous underwater vehicle
Regelungssynthese und -anpassung für ein autonomes Unterwasserfahrzeug bei Ausfall einzelner Stellglieder
IEEE Journal of Oceanic Engineering ; 20 , 3 ; 211-220
1995
10 Seiten, 19 Quellen
Aufsatz (Zeitschrift)
Englisch
Planar Tracking Control of an Underactuated Autonomous Underwater Vehicle
BASE | 2011
|Robust trajectory tracking control for underactuated autonomous underwater vehicles
BASE | 2019
|Cross-Track Formation Control of Underactuated Autonomous Underwater Vehicles
Tema Archiv | 2006
|