Moving mass control for underwater vehicles

C. A. Woolsey, N. E. Leonard

Research output: Contribution to journalArticlepeer-review

73 Scopus citations


We present two reduced-dimensional, noncanonical Hamiltonian models for a neutrally buoyant underwater vehicle coupled to an internal moving mass. It is expected that these models will be useful in designing nonlinear control laws for underwater gliders as well as for spacecraft, atmospheric re-entry vehicles, and other vehicles which use internal moving mass actuators. To illustrate, we investigate stability of a steady underwater vehicle motion using potential shaping feedback with a moving mass actuator.

Original languageEnglish (US)
Pages (from-to)2824-2829
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2002

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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