Motion control of an autonomous underwater vehicle with an adaptive feature

In the event of an actuator failure in an autonomous underwater vehicle (AUV), it is possible to maintain controllability despite the change in control authority. One, however, expects to have to change the feedforward motion script (plan). Here we present tools to discuss such an adaptive feature in the feedforward path of an AUV control system. We confine ourselves to kinematic models and give an illustration of the main ideas in an example of a “parking maneuver” for an AUV