Title :
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
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;
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
DOI :
10.1109/ICARCV.2008.4795597
