Compensating for Actuator Failures:
Dynamics and Control of Underactuated Underwater Vehicles

N.E. Leonard

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 failures 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 underactuated. 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 this 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.

Postscript Version (10 pages postscript)

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