Nonlinear optimal control of an AUV and its actuator failure compensation


This paper introduces the application of a newly developed optimal control method for an autonomous underwater vehicle (AUV) and actuator failure performance in case of the failure of either rudder or stern fin. The six degree-of-freedom (DOF) nonlinear equations of motion were used in the control. For failure and no-failure cases, two control system models… (More)
DOI: 10.1109/ICARCV.2008.4795597

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