Directional Control of a Slender, Underactuated AUV Using Potential Shaping

Author

Woolsey, Craig A.

Author_Institution

Dept. of Aerosp. & Ocean Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

6826

Lastpage

6831

Abstract

The three-dimensional directional stabilization problem is addressed for a slender autonomous underwater vehicle (AUV) with three inputs: thrust, pitch moment, and yaw moment. The control law reshapes potential energy through feedback. Conditions for asymptotic stability are derived by applying Lyapunov´s direct method to a control Lyapunov function constructed from the control-modified energy and other conserved quantities. A line-of-sight guidance algorithm is also proposed to drive the vehicle along a desired linear path. The six degree of freedom dynamic model requires minimal assumptions about the viscous force and moment, resulting in a controller that is robust to uncertainty regarding viscous effects

Keywords

Lyapunov methods; asymptotic stability; feedback; mobile robots; nonlinear control systems; position control; remotely operated vehicles; robust control; underwater vehicles; 3D directional stabilization problem; Lyapunov direct method; Lyapunov function; asymptotic stability; directional control; feedback; line-of-sight guidance algorithm; pitch moment; potential energy reshaping; potential shaping; robust controller; slender underactuated autonomous underwater vehicle; vehicle thrust; viscous effects; yaw moment; Asymptotic stability; Feedback; Force control; Lyapunov method; Navigation; Potential energy; Shape control; Underwater vehicles; Vehicle driving; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377428

Filename

4178102