Global stabilization of an underactuated autonomous underwater vehicle via logic-based switching

Author

Aguiar, António Pedro ; Pascoal, António M.

Author_Institution

Dept. of Electr. Eng., Instituto Superior Tecnico, Lisbon, Portugal

Volume

3

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

3267

Abstract

The paper considers the problem of global stabilization of an underactuated autonomous underwater vehicle (AUV) to a point, with a desired orientation. Controllability and stabilizability properties of the vehicle model are discussed and a logic-based hybrid controller is proposed that yields global convergence of the AUV to an arbitrarily small neighborhood of the target point. Convergence and stability of the closed loop system are analyzed. To illustrate the control law developed, simulation results are presented using the model of the Sirene AUV.

Keywords

asymptotic stability; closed loop systems; continuous time systems; control system synthesis; controllability; discrete event systems; feedback; mobile robots; position control; underwater vehicles; AUV; Sirene; closed loop system; controllability; global convergence; global stabilization; logic-based switching; stabilizability; underactuated autonomous underwater vehicle; Control system synthesis; Control systems; Convergence; Feedback control; Marine vehicles; Remotely operated vehicles; Robots; Stability analysis; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184375

Filename

1184375