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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...
This paper presents a new controller design method based on the data-mining polynomial algorithm. We show application of a polynomial data-mining algorithm to controller design, where an input-state linearized polynomial vehicle model is developed for a very low speed operation and without introducing any process with fudge factor, control inputs of nonlinear system are obtained in the original coordinate...
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