Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory


Autoria(s): Valentinis, Francis; Donaire, Alejandro; Perez, Tristan
Data(s)

01/11/2015

Resumo

This paper presents a motion control system for guidance of an underactuated Unmanned Underwater Vehicle (UUV) on a helical trajectory. The control strategy is developed using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Using energy routing, the trajectory of a virtual fully actuated plant is guided onto a vector field. A tracking controller is then used that commands the underactuated plant to follow the velocity of the virtual plant. An integral control is inserted between the two control layers, which adds robustness and disturbance rejection to the design.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/90127/

Publicador

ELsevier

Relação

http://eprints.qut.edu.au/90127/1/90127_Perez.pdf

http://www.sciencedirect.com/science/article/pii/S0967066115001379

DOI:10.1016/j.conengprac.2015.07.010

Valentinis, Francis, Donaire, Alejandro, & Perez, Tristan (2015) Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory. Control Engineering Practice, 44, pp. 138-156.

Direitos

Copyright 2015 Elsevier

Fonte

Institute for Future Environments; Science & Engineering Faculty

Tipo

Journal Article