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 language | English (US) |
---|---|
Pages | 241-246 |
Number of pages | 6 |
State | Published - 1996 |
Event | Proceedings of the 1996 6th International Offshore and Polar Engineering Conference. Part 2 (of 4) - Los Angeles, CA, USA Duration: May 26 1996 → May 31 1996 |
Other
Other | Proceedings of the 1996 6th International Offshore and Polar Engineering Conference. Part 2 (of 4) |
---|---|
City | Los Angeles, CA, USA |
Period | 5/26/96 → 5/31/96 |
All Science Journal Classification (ASJC) codes
- Energy Engineering and Power Technology
- Ocean Engineering
- Mechanical Engineering