Nonlinear control of a subscale submarine in emergency ascent
| Autor: | Francis Valentinis, Craig A. Woolsey |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Lyapunov function
Environmental Engineering Underactuation Computer science Submarine 020101 civil engineering Ocean Engineering Emergency ascent 02 engineering and technology Nonlinear control Motion control 01 natural sciences 010305 fluids & plasmas 0201 civil engineering symbols.namesake Control theory 0103 physical sciences Parametric model symbols |
| Zdroj: | Ocean Engineering. 171:646-662 |
| ISSN: | 0029-8018 |
| Popis: | This paper presents a nonlinear parametric model and proof-of-concept motion control system for a scale model submarine undertaking an emergency ascent. An energy-based model is presented that represents the underactuated submarine in a non-neutrally buoyant state. This model is then used to synthesize a control law using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Lyapunov analysis is used to demonstrate stability of the closed-loop system, and a simulation-based study is presented to demonstrate performance of the control law. The results demonstrate that a closed loop non-linear controller is able to improve the quality of emergency rise by automatically compensating for some parasitic effects in the hydrodynamics that can compromise ascent performance. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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