Nonlinear optimal control of an AUV and its actuator failure compensation

Author

Arslan, Mehmet Selçuk ; Fukushima, Naoto ; Hagiwara, Ichiro

Author_Institution

Dept. of Mech. Sci. & Eng., Tokyo Inst. of Technol., Tokyo

fYear

2008

fDate

17-20 Dec. 2008

Firstpage

668

Lastpage

673

Abstract

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 were developed. By implementing a multiple model and switching control scenario, the control performances of the vehicle have been demonstrated via numerical simulations.

Keywords

compensation; mobile robots; nonlinear control systems; nonlinear equations; optimal control; remotely operated vehicles; time-varying systems; underwater vehicles; AUV; actuator failure compensation; autonomous underwater vehicle; nonlinear equations; nonlinear optimal control; switching control scenario; Actuators; Control system synthesis; Control systems; Motion control; Nonlinear control systems; Nonlinear equations; Optimal control; Robotics and automation; Underwater vehicles; Vehicle dynamics; Optimal control; actuator failure; nonlinear control; underactuated systems; underwater vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on

Conference_Location

Hanoi

Print_ISBN

978-1-4244-2286-9

Electronic_ISBN

978-1-4244-2287-6

Type

conf

DOI

10.1109/ICARCV.2008.4795597

Filename

4795597