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.


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    Title :

    Control synthesis and adaptation for an underactuated autonomous underwater vehicle


    Additional title:

    Regelungssynthese und -anpassung für ein autonomes Unterwasserfahrzeug bei Ausfall einzelner Stellglieder


    Contributors:

    Published in:

    Publication date :

    1995


    Size :

    10 Seiten, 19 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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