A first extension of geometric control theory to underwater vehicles
Data(s) |
2008
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Resumo |
This paper serves as a first study on the implementation of control strategies developed using a kinematic reduction onto test bed autonomous underwater vehicles (AUVs). The equations of motion are presented in the framework of differential geometry, including external dissipative forces, as a forced affine connection control system. We show that the hydrodynamic drag forces can be included in the affine connection, resulting in an affine connection control system. The definitions of kinematic reduction and decoupling vector field are thus extended from the ideal fluid scenario. Control strategies are computed using this new extension and are reformulated for implementation onto a test-bed AUV. We compare these geometrically computed controls to time and energy optimal controls for the same trajectory which are computed using a previously developed algorithm. Through this comparison we are able to validate our theoretical results based on the experiments conducted using the time and energy efficient strategies. |
Formato |
application/pdf |
Identificador | |
Publicador |
Elsevier |
Relação |
http://eprints.qut.edu.au/40138/1/ngcuv08.pdf DOI:10.3182/20080408-3-IE-4914.00015 Chyba, Monique & Smith, Ryan N. (2008) A first extension of geometric control theory to underwater vehicles. In Proceedings of the 2008 IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Elsevier, Lakeside Hotel, Killaloe, Ireland. |
Direitos |
Copyright 2008 Elsevier & IFAC |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #010102 Algebraic and Differential Geometry #010203 Calculus of Variations Systems Theory and Control Theory #091103 Ocean Engineering #091106 Special Vehicles #Autonomous Underwater Vehicle #Geometric Control theory #Decoupling vector field #kinematic reduction |
Tipo |
Conference Paper |