Energy Shaping for Stably Coordinating Internally Actuated Underwater Vehicles

摘要：

This paper considers the problem of stabilization and coordination for underwater vehicles using internal moving mass actuators.The underwater vehicle (UV)is modeled as a neutrally buoyant,bottom-heavy,submerged rigid body in an ideal uid.The force of interaction between the UV and internal moving mass destabilizes UVs steady translation along its long axis if the moving mass is allowed to move freely inside the UV body.However,this interaction force can also be treated as a control input.Energy shaping is applied to control the motion of moving mass relative to the UV body such that the UVs steady long axis translation with a designated attitude is stabilized.The proposed method is extended to design control laws to coordinate steady motions of multiple UVs.

作者: WU Fan GENG Zhiyong

作者单位: The State Key Laboratory for Turbulence and Complex Systems,College of Engineering,Peking University,Beijing 100871,P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-7

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）