Nonlinear optimal control of an AUV and its actuator failure compensation

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.