Stabilization of underwater vehicle dynamics: a geometric perspective

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Using geometric methods we derive feedback control laws that stabilize underwater vehicle dynamics. The geometric perspective is to exploit the structure of a six degree-of-freedom nonlinear dynamic vehicle model and mimic the natural restoring torque produced by gravity and buoyancy. An important advantage is that the control laws do not require linearization or cancellation of nonlinearities, thereby avoiding excess control effort. Further, stabilization is robust to uncertainty in hydrodynamic parameters. The results also point to the possibility that novel types of actuators, such as internal rotors, could be used as low drag alternatives to more traditional types of actuation.

Original languageEnglish (US)
Title of host publicationProceedings of the International Offshore and Polar Engineering Conference
PublisherInt Soc of Offshore and Polar Engineerns (ISOPE)
Pages241-246
Number of pages6
Volume2
StatePublished - Jan 1 1996
EventProceedings of the 1996 6th International Offshore and Polar Engineering Conference. Part 2 (of 4) - Los Angeles, CA, USA
Duration: May 26 1996May 31 1996

Other

OtherProceedings of the 1996 6th International Offshore and Polar Engineering Conference. Part 2 (of 4)
CityLos Angeles, CA, USA
Period5/26/965/31/96

All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Ocean Engineering
  • Mechanical Engineering

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  • Cite this

    Leonard, N. E. (1996). Stabilization of underwater vehicle dynamics: a geometric perspective. In Proceedings of the International Offshore and Polar Engineering Conference (Vol. 2, pp. 241-246). Int Soc of Offshore and Polar Engineerns (ISOPE).