Stabilization of a relative equilibrium of an underactuated AUV in three-dimensional space

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	Stabilization of a relative equilibrium of an underactuated AUV in three-dimensional space; Stabilization of a relative equilibrium of an underactuated AUV in three-dimensional space
	NIU Hongjiao ; GENG Zhiyong
	2017
关键词	Underactued AUV relative equilibrium energy shaping and damping assignment Underactued AUV relative equilibrium energy shaping and damping assignment
英文摘要	This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) with three independent control inputs:moment of pitch,moment of yaw and thrust,in three-dimensional space.The dynamics of an AUV can be described by the Kirchhoff's equations which couples actuated variables and underactuated variables together and which is helpful to control underactuated variables via actuated variables.Physically,relative equilibria correspond to trim trajectories,which can save power.In this study,the relative equilibrium corresponds to a marine vehicle translation along the longitudinal axis and rotation around the same axis with a desired velocity.Based on the interconnection and damping assignment(IDA) method,a new desired Hamiltonian function,in which translational and rotational velocities are coupled together,is constructed and served as a Lyapunov function.Although there's no control inputs for the underactuated variables,the coupling between translational and rota...; This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) with three independent control inputs:moment of pitch,moment of yaw and thrust,in three-dimensional space.The dynamics of an AUV can be described by the Kirchhoff's equations which couples actuated variables and underactuated variables together and which is helpful to control underactuated variables via actuated variables.Physically,relative equilibria correspond to trim trajectories,which; 中国自动化学会控制理论专业委员会; 6
会议录	第36届中国控制会议
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/479542]
专题	工学院
推荐引用方式 GB/T 7714	NIU Hongjiao,GENG Zhiyong. Stabilization of a relative equilibrium of an underactuated AUV in three-dimensional space, Stabilization of a relative equilibrium of an underactuated AUV in three-dimensional space[C]. 见:.