Control Synthesis and Adaptation
for an Underactuated Autonomous
In IEEE Journal of Oceanic Engineering, Volume 20, Number 3,
July 1995, p. 211-220.
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
for underactuated AUV's and show how to use this technique to provide
adaptation to changes in control authority. Our framework is a motion
system architecture which includes both feedforward control as well as
feedback control. We
confine ourselves to kinematic models and exploit model nonlinearities
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.
results for the yaw maneuver example are described.
Back to home page