Abstract
Internal rotors may usefully complement more conventional means of underwater vehicle actuation by extending the operating regime and improving reliability. In this paper we describe stabilizing control laws for an underwater vehicle using internal rotors. Our stabilizing control laws consist of two terms: the first term addresses the conservative part of the system by shaping energy to yield Lyapunov stability, while the second term adds dissipation to ensure asymptotic stability to the motion of interest.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3417-3421 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 5 |
| State | Published - 1999 |
| Event | Proceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA Duration: Jun 2 1999 → Jun 4 1999 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering