Control Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicle.

摘要

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, the authors 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. This framework is a motion control system architecture that includes both feedforward control as well as feedback control. They confine themselves to kinematic models and exploit model nonlinearities to synthesize controls. Their results are illustrated with two examples: a yaw maneuver of an AUV using only roll and pitch actuation, and a 'parking maneuver' for an AUV using original and reduced control authority. Experimental results for the yaw maneuver example are presented.