Control Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicle

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dc.contributor.authorLeonard, Naomi E.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:56:56Z
dc.date.available2007-05-23T09:56:56Z
dc.date.issued1994en_US
dc.description.abstractThe 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 controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our frame-work is a motion control system architecture which includes both feedforward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to 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 ﲰarking maneuver for an AUV. Experimental results for the yaw maneuver example are described.en_US
dc.format.extent1102608 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5532
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1994-58en_US
dc.subjectautonomous underwater vehiclesen_US
dc.subjectadaptive controlen_US
dc.subjectactuator failureen_US
dc.subjectnonlinear control synthesisen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleControl Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicleen_US
dc.typeTechnical Reporten_US

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