Compensating for Actuator Failures:
Dynamics and Control of Underactuated Underwater Vehicles
In Proceedings of the 9th International Symposium on
Unmanned Untethered Submersible Technology,
September 1995, p. 168-177.
In this paper we address the problem of compensating for actuator
in underwater vehicles by deriving an algorithm that specifies
how to control vehicle motion
using a limited number of actuators, i.e., when the vehicle is
In the event of an actuator failure,
the algorithm would be triggered to provide motion control laws that
rely only on the remaining actuators.
In previous work we confined ourselves to kinematic vehicle models. In
paper we consider vehicle dynamics near hover and show how to direct an
underactuated vehicle initially at rest to some given position and
orientation also at rest.
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