Internal Actuation for Intelligent Underwater Vehicle Control

N.E. Leonard and C.A. Woolsey

In Tenth Yale Workshop on Adaptive and Learning Systems, June 1998, p. 295-300.


In this paper we describe underwater vehicle control using internal actuation. Used alone, internal actuators, such as rotors or sliding masses, may be low-drag and reliable alternatives to more conventionial means of underwater actuation. Used together with fins and propellers, internal actuators may provide the capability for adaptation to actuator failures and operating conditions that would otherwise be uncontrollable. Using energy methods, we design control laws for stabilization of underwater vehicle motions with internal rotors.

Postscript Version (6 pages postcript)

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