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

Title: Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory
Creator: Valentinis, Francis; Donaire, Alejandro; Perez, Tristian
Relation: Control Engineering Practice Vol. 44, Issue November 2015, p. 138-156
Publisher Link: http://dx.doi.org/10.1016/j.conengprac.2015.07.010
Publisher: Elsevier
Resource Type: journal article
Date: 2015
Description: 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.
Subject: unmanned underwater vehicle; guidance; energy routing; nonlinear systems; energy-based control; Port-Hamiltonian systems
Identifier: http://hdl.handle.net/1959.13/1314881
Identifier: uon:22845
Identifier: ISSN:0967-0661
Language: eng
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