Title :
Underwater vehicle stabilization by internal rotors
Author :
Woolsey, Craig A. ; Leonard, Naomi Ehrich
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA
Abstract :
Internal rotors may usefully complement more conventional means of underwater vehicle actuation by extending the operating regime and improving reliability. In this paper we describe stabilizing control laws for an underwater vehicle using internal rotors. Our stabilizing control laws consist of two terms: the first term addresses the conservative part of the system by shaping energy to yield Lyapunov stability, while the second term adds dissipation to ensure asymptotic stability to the motion of interest
Keywords :
Lyapunov methods; asymptotic stability; dynamics; feedback; motion control; robust control; rotors; underwater vehicles; Lyapunov stability; asymptotic stability; dynamics; feedback; internal rotors; motion control; robust control; stabilization; underwater vehicle; Asymptotic stability; Control systems; Feedback; Kinetic energy; Motion control; Poisson equations; Shape control; Underwater vehicles; Vectors; Vehicle dynamics;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782399
