Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory
Data(s) |
01/11/2015
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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 | |
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 |