Energy-based motion control of a slender hull unmanned underwater vehicle

Valentinis, Francis, Donaire, Alejandro, & Perez, Tristan (2015) Energy-based motion control of a slender hull unmanned underwater vehicle. Ocean Engineering, 104, pp. 604-616.


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This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy is developed using the Port-Hamiltonian theory. By shaping of the target dynamics (desired dynamic response in closed loop) with particular attention to the target mass matrix, the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of stable uncontrolled states. Throughout the design, the insight of the physical phenomena involved is used to propose the desired target dynamics. Integral action is added to the system for robustness and to reject steady disturbances. This is achieved via a change of coordinates that result in input-to-state stable (ISS) target dynamics. As a final step in the design, an anti-windup scheme is implemented to account for limited actuator capacity, namely saturation. The performance of the design is demonstrated through simulation with a high-fidelity model.

Impact and interest:

3 citations in Scopus
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1 citations in Web of Science®

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ID Code: 90128
Item Type: Journal Article
Refereed: Yes
DOI: 10.1016/j.oceaneng.2015.05.014
ISSN: 00298018
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 02:40
Last Modified: 24 Nov 2015 12:09

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