Stabilization of an underactuated AUV with physical damping on SE(3) via SIDA method
| Autor: | Zhiyong Geng, Hongjiao Niu |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Work (thermodynamics) Engineering Underactuation business.industry Lie group Context (language use) 02 engineering and technology 01 natural sciences 010305 fluids & plasmas Computer Science::Robotics Vehicle dynamics Mechanical system Moment (mathematics) 020901 industrial engineering & automation Exponential stability Control theory 0103 physical sciences business |
| Zdroj: | 2016 35th Chinese Control Conference (CCC). |
| Popis: | This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) that has three independent inputs: surge moment, yaw moment and pitch moment in the context of Hamilton system on Lie group SE(3) while physical damping terms appear. The control law that consists of two parts is derived from reshaping kinetic energy and reassigning damping terms via simultaneous interconnection and damping assignment(SIDA) method. It can globally stabilize an underactuted AUV that moves along its longitudinal axis with arbitrary designed body velocities, which is a nongeneric relative equilibrium. Further more, the designed relative equilibrium is globally exponentially stable. Simulation results complete the work. |
| Databáze: | OpenAIRE |
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