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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.

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Abstract

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.

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ID Code: 40137
Item Type: Conference Paper
Additional URLs:
Keywords: Autonomous Underwater Vehicle, Optimal Control, Time Optimal, Energy optimal, Under-actuated vehicle
Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Calculus of Variations Systems Theory and Control Theory (010203)
Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > NUMERICAL AND COMPUTATIONAL MATHEMATICS (010300) > Numerical Solution of Differential and Integral Equations (010302)
Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > NUMERICAL AND COMPUTATIONAL MATHEMATICS (010300) > Optimisation (010303)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2008 [please consult the authors]
Deposited On: 25 Mar 2011 08:55
Last Modified: 11 Aug 2011 02:05

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