Motion Of Underwater Vehicle Research Articles

Control synthesis and adaptation for an underactuated autonomous underwater vehicle

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 controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward 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 of an AUV using only roll and pitch actuation, and the second a parking maneuver for an AUV. Experimental results for the yaw example are described. >

A SELF-ADAPTING CONTROL SYSTEM OF UNDERWATER VEHICLE'S MOTION

A principle of operation and the structure of a self-adapting control system of an underwater vehicle's motion is presented. Identification of the vehicle's dynamics enables the selection of a suitable algorithm of motion, the determination of quasi-optimal commands, compensates for an influence of environmental disturbances and leads the vehicle along a desired trajectory.