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.
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