Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy

Volume: 34, Issue: 1, Pages: 39 - 52
Published: Jan 31, 2001
Abstract
null null A novel approach to the allocation of thruster forces of an autonomous underwater vehicle (AUV) is investigated. Generally, the number of thrusters in an AUV is more than what is minimally required to produce the desired motion. We investigate how to exploit the excess number of thrusters to accommodate thruster faults during operation. First, a redundancy resolution scheme is presented that takes into account the presence of excess...
Paper Details
Title
Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy
Published Date
Jan 31, 2001
Volume
34
Issue
1
Pages
39 - 52
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