Local Dynamics Adaption for Trajectory Optimization and Stabilization of underactuated AUV's

In the recent decades, many missions have been undertaken to investigate Europa, one of Jupiter’s moons. It’s surface consists of a thick ice crust which covers a deep ocean underneath it. To inspect the ocean a system was conceptualized at DFKI Bremen which would drill through the ice and then deploy the underactuated DeepLeng AUV which features non-holonomic constraints. The exact properties of the water on Europa are not fully known beforehand the mission and the angles of attack of the water and the velocities differ for different maneuvers or tasks. An online adaption of local models for various trajectories will be studied and implemented. These dynamics will then be incorporated into a Trajectory Optimization and time variant LQR algorithm to address the underactuated nature of the AUV.