Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory
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.
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.
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|Item Type:||Journal Article|
|Divisions:||Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2015 Elsevier|
|Deposited On:||12 Nov 2015 02:32|
|Last Modified:||29 Nov 2015 17:07|
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