Stabilization of steady motions of an underwater vehicle

Research output: Chapter in Book/Report/Conference proceedingChapter

11 Scopus citations

Abstract

We show how to stabilize underwater vehicle dynamics for a six degree-of-freedom vehicle modeled as a neutrally buoyant, submerged rigid body in an ideal fluid. Stabilization is achieved by applying external torques to the vehicle that mimic the kind of torques that are naturally induced when the vehicle's center of gravity is lower than its center of buoyancy. This approach makes the controlled system resemble the uncontrolled system in structure, and we can mimic our analysis of open-loop stability of a bottom-heavy underwater vehicle [2, 3] to study closed-loop stability of the controlled vehicle. We show that the closed-loop system has Lie-Poisson form and prove closed-loop stability using extensions to the energy-Casimir method. A resulting property of the control law is robustness to model parameter uncertainty.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
StatePublished - Dec 1 1996
EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume1
ISSN (Print)0191-2216

Other

OtherProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
CityKobe, Jpn
Period12/11/9612/13/96

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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    Leonard, N. E. (1996). Stabilization of steady motions of an underwater vehicle. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (Proceedings of the IEEE Conference on Decision and Control; Vol. 1).