Motion Control of an Autonomous Underwater Vehicle
with an Adaptive
N.E. Leonard and P.S. Krishnaprasad
In Proceedings of the 1994 Symposium on Autonomous Underwater Vehicle
Technology, IEEE Oceanic Engineering Society, July, 1994, p.282-288.
In the event of an actuator failure in an autonomous underwater vehicle
it is possible to maintain controllability despite the change in control
authority. One, however, expects to have to change the feedforward
script (plan). Here we present tools to discuss such an adaptive
the feedforward path of an AUV control system. We confine ourselves to
kinematic models and give an illustration of the main ideas in an
of a ``parking maneuver'' for an AUV.
Back to home page