Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory

Valentinis, F., Donaire, A., & Perez, T. (2013) Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory. In Procedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Wollongong, NSW, pp. 1546-1551.

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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.

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ID Code: 70929
Item Type: Conference Paper
Refereed: Yes
Keywords: Control system synthesis, Matrix algebra, Remotely operated vehicles, Underwater vehicles, Velocity control
DOI: 10.1109/AIM.2013.6584315
ISBN: 9781467353205
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 IEEE
Deposited On: 02 May 2014 00:45
Last Modified: 12 Nov 2015 21:56

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