Stabilization of underwater vehicle dynamics with symmetry-breaking potentials

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42 Scopus citations


We show how to stabilize, in stages, arbitrary steady translations of an underwater vehicle with feedback that derives from a potential and deliberately breaks symmetry in the dynamics. First, rotational symmetry is broken to ensure stability in the momentum parameters. Then, translational symmetry is broken to prevent drift. Stability of the closed-loop system is proved using the energy-Casimir method. A resulting property of the control law is robustness to model parameter uncertainty.

Original languageEnglish (US)
Pages (from-to)35-42
Number of pages8
JournalSystems and Control Letters
Issue number1
StatePublished - Oct 26 1997

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


  • Energy-Casimir
  • Hamiltonian
  • Kirchhoff equations
  • Potentials
  • Stabilization
  • Symmetry
  • Underwater vehicle


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