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Three-dimensional motion coordination in a flowfield has applications in environmental monitoring with autonomous vehicles. Motion-coordination algorithms designed using a flow-free motion model often fail to converge in even moderate flow speeds. We apply Lyapunov-based methods to design decentralized feedback laws for use in a three-dimensional, time-invariant flowfield that does not exceed the...
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...
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