Title :
Geometric methods for robust stabilization of autonomous underwater vehicles
Author :
Leonard, Naomi Ehrich
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA
Abstract :
In this paper we describe feedback stabilization strategies for autonomous underwater vehicles (AUV) that are robust to uncertainties in hydrodynamic parameters. The approach uses geometric methods to exploit the structure of a six degree-of-freedom nonlinear dynamic vehicle model and avoids having to cancel or linearize nonlinearities
Keywords :
closed loop systems; computational geometry; feedback; fluid dynamics; hydrodynamics; marine systems; robust control; torque control; autonomous underwater vehicles; closed loop systems; dynamics; energy-Casimir method; feedback; geometric methods; hydrodynamic parameters; nonlinear dynamic vehicle model; robust control; robust stabilization; torque control; Aerodynamics; Hydrodynamics; Open loop systems; Robust control; Robustness; Sliding mode control; Space vehicles; Stability; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1996. AUV '96., Proceedings of the 1996 Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-3185-0
DOI :
10.1109/AUV.1996.532449
