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.

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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.

Impact and interest:

2 citations in Scopus
1 citations in Web of Science®
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ID Code: 90127
Item Type: Journal Article
Refereed: Yes
DOI: 10.1016/j.conengprac.2015.07.010
ISSN: 09670661
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: 23 Jun 2017 15:02

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