Asymptotic stabilization of selected equilibria of the underactuated Kirchhoff´s equations

Author

Astolfi, A. ; Chhabre, D. ; Ortega, R.

Author_Institution

Dipt. di Elettronica e Inf., Politecnico di Milano, Italy

Volume

6

fYear

2001

fDate

2001

Firstpage

4862

Abstract

The stabilization problem for selected relative equilibria of an underactuated rigid body, modelling a simple underwater vehicle, moving in an ideal fluid is addressed. State feedback control laws achieving local asymptotic stability of a forward motion and of a diving/rising with forward/reverse motion are proposed. The control design exploits the Hamiltonian nature of the system to be controlled and it is based on the so-called interconnection and damping assignment (IDA) procedure. Simulation results complete the work

Keywords

asymptotic stability; control system analysis; control system synthesis; motion control; state feedback; underwater vehicles; Hamiltonian system; control design; control simulation; diving; forward motion; interconnection and damping assignment; rising; selected relative equilibria stabilization; state feedback control laws; underactuated Kirchhoff´s equations; underactuated rigid body; underwater vehicle; Angular velocity; Asymptotic stability; Control design; Educational institutions; Equations; Gravity; Motion analysis; Motion control; State feedback; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945753

Filename

945753