Control of an Underactuated-slender-hull Unmanned Underwater vehicle using Port-Hamiltonian Theory

Title: Control of an Underactuated-slender-hull Unmanned Underwater vehicle using Port-Hamiltonian Theory
Creator: Valentinis, Francis; Donaire, Alejandro; Perez, Tristan
Relation: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Wollongong, Australia 09-12 July, 2013) p. 1546-1551
Publisher Link: http://dx.doi.org/10.1109/AIM.2013.6584315
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2013
Description: This paper presents a control design for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle (UUV). The control design is based on Port-Hamiltonian theory. The target dynamics (desired dynamic response) is shaped with particular attention to the target mass matrix so that the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of uncontrolled states. Throughout the design, insight of the physical phenomena involved is used to propose the desired target dynamics. The performance of the design is demonstrated through simulation with a high-fidelity model.
Subject: UUV; Port-Hamiltonian theory; underwater vehicles; desired target dynamics
Identifier: http://hdl.handle.net/1959.13/1294177
Identifier: uon:18756
Identifier: ISBN:9781467353199
Language: eng
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