Moving mass control for underwater vehicles

C. A. Woolsey; N. E. Leonard

doi:10.1109/ACC.2002.1025217

Moving mass control for underwater vehicles

C. A. Woolsey, N. E. Leonard

Research output: Contribution to journal › Article › peer-review

73 Scopus citations

Abstract

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 language	English (US)
Pages (from-to)	2824-2829
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	4
DOIs	https://doi.org/10.1109/ACC.2002.1025217
State	Published - 2002

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2002.1025217

Cite this

@article{9565d2418fd949f1b2da1c0e18b7892b,

title = "Moving mass control for underwater vehicles",

abstract = "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.",

author = "Woolsey, {C. A.} and Leonard, {N. E.}",

year = "2002",

doi = "10.1109/ACC.2002.1025217",

language = "English (US)",

volume = "4",

pages = "2824--2829",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Moving mass control for underwater vehicles

AU - Woolsey, C. A.

AU - Leonard, N. E.

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0036055741&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0036055741&partnerID=8YFLogxK

U2 - 10.1109/ACC.2002.1025217

DO - 10.1109/ACC.2002.1025217

M3 - Article

AN - SCOPUS:0036055741

SN - 0743-1619

VL - 4

SP - 2824

EP - 2829

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

ER -

Moving mass control for underwater vehicles

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this