Efficient control of an autonomous underwater vehicle while accounting for thruster failure
Chyba, Monique, Haberkorn, Thomas, Smith, Ryan N., Choi, Song K., Mariani, Giacomo, & McLeod, Chris (2008) Efficient control of an autonomous underwater vehicle while accounting for thruster failure. In Proceedings of the 7th International Conference on Computer Applications and Information Technology in the Maritime Industries, COMPIT 2008, Bedford Hotel, Brussels.
This paper is concerned with the design and implementation of control strategies onto a test-bed vehicle with six degrees-of-freedom. We design our trajectories to be efficient in time and in power consumption. Moreover, we also consider cases when actuator failure can arise and discuss alternate control strategies in this situation. Our calculations are supplemented by experimental results.
Impact and interest:
Citation countsare sourced monthly fromand citation databases.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
Full-text downloadsdisplays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.
Repository Staff Only: item control page