DocumentCode
2096130
Title
Moving mass control for underwater vehicles
Author
Woolsey, C.A. ; Leonard, N.E.
Author_Institution
Dept. of Aerosp. & Ocean Eng., Virginia Tech., Blacksburg, VA, USA
Volume
4
fYear
2002
fDate
2002
Firstpage
2824
Abstract
We present two reduced-dimensional, noncanonical Hamiltonian models for a neutrally buoyant underwater vehicle coupled to an internal moving mass. It is expected that these models will be useful in designing nonlinear control laws for underwater gliders as well as for spacecraft, atmospheric re-entry vehicles, and other vehicles which use internal moving mass actuators. To illustrate, we investigate stability of a steady underwater vehicle motion using potential shaping feedback with a moving mass actuator.
Keywords
actuators; feedback; nonlinear control systems; stability; underwater vehicles; atmospheric re-entry vehicles; mass control movement; moving mass actuator; neutrally buoyant underwater vehicle; noncanonical Hamiltonian models; nonlinear control laws; shaping feedback; underwater vehicles; Actuators; Aerodynamics; Atmospheric modeling; Force control; Nonlinear dynamical systems; Propulsion; Space vehicles; Underwater vehicles; Vehicle dynamics; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1025217
Filename
1025217
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