DocumentCode
3033497
Title
Underwater vehicle stabilization by internal rotors
Author
Woolsey, Craig A. ; Leonard, Naomi Ehrich
Author_Institution
Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA
Volume
5
fYear
1999
fDate
1999
Firstpage
3417
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
Keywords
Lyapunov methods; asymptotic stability; dynamics; feedback; motion control; robust control; rotors; underwater vehicles; Lyapunov stability; asymptotic stability; dynamics; feedback; internal rotors; motion control; robust control; stabilization; underwater vehicle; Asymptotic stability; Control systems; Feedback; Kinetic energy; Motion control; Poisson equations; Shape control; Underwater vehicles; Vectors; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.782399
Filename
782399
Link To Document