Underwater vehicle stabilization by internal rotors

Underwater vehicle stabilization by internal rotors

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...

Full description

Saved in:
Bibliographic Details
Published in:Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Vol. 5; pp. 3417 - 3421 vol.5
Main Authors: Woolsey, C.A., Leonard, N.E.
Format: Conference Proceeding
Language:English
Published: IEEE 1999
Subjects:
Asymptotic stability
Control systems
Feedback
Kinetic energy
Motion control
Poisson equations
Shape control
Underwater vehicles
Vectors
Vehicle dynamics
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISBN:9780780349902
0780349903
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.1999.782399