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• W2133374295 abstract "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 model and switching control scenario, the control performances of the vehicle have been demonstrated via numerical simulations." @default.
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• W2133374295 date "2008-12-01" @default.
• W2133374295 modified "2023-09-26" @default.
• W2133374295 title "Nonlinear optimal control of an AUV and its actuator failure compensation" @default.
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• W2133374295 doi "https://doi.org/10.1109/icarcv.2008.4795597" @default.
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