Title :
Energy shaping for vehicles with point mass actuators
Author :
Reddy, C. Konda ; Woolsey, Craig A.
Author_Institution :
Aerosp. & Ocean Eng., Virginia Tech, Blacksburg, VA
Abstract :
This paper describes the application of the method of controlled Lagrangians to vehicles with moving point mass actuators. This class of systems includes certain spacecraft, atmospheric re-entry vehicles, and underwater vehicles. Two examples are presented. The first example is a spinning disk, a simplified, planar version of a spacecraft spin stabilization problem. The second example is an underwater vehicle moving in the horizontal plane
Keywords :
motion control; space vehicles; underwater vehicles; vehicle dynamics; atmospheric reentry vehicles; controlled Lagrangians; energy shaping; moving point mass actuators; spacecraft spin stabilization problem; spinning disk; underwater vehicles; Actuators; Aerodynamics; Control design; Control systems; Force control; Lagrangian functions; Protection; Space vehicles; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657393
