Stabilizing underwater vehicle motion using internal rotors

DOI10.1016/S0005-1098(02)00136-XzbMath1015.93044OpenAlexW1990007573MaRDI QIDQ1858340

C. A. Woolsey, Naomi Ehrich Leonard

Publication date: 13 February 2003

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(02)00136-x

zbMATH Keywords

Lyapunov functionstabilizationHamiltonian systemsinternal rotorsunderwater vehicleenergy shapingviscous forcefeedback dissipationreaction wheelsystem inertia

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Application models in control theory (93C95)

Related Items (11)

Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body ⋮ Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping ⋮ Stabilization of coordinated motion for underwater vehicles ⋮ Optimal control of the motion of a helical body in a liquid using rotors ⋮ Controlled Lagrangians and Stabilization of Euler--Poincaré Mechanical Systems with Broken Symmetry I: Kinetic Shaping ⋮ Attitude optimization by extremum seeking for rigid bodies actuated by internal rotors only ⋮ Cooperative game-oriented optimal design in constraint-following control of mechanical systems ⋮ Control of the motion of a triaxial ellipsoid in a fluid using rotors ⋮ Geometric-control formulation and averaging analysis of the unsteady aerodynamics of a wing with oscillatory controls ⋮ Controlled motion of a rigid body with internal mechanisms in an ideal incompressible fluid ⋮ Trajectory tracking passivity-based control for marine vehicles subject to disturbances

Cites Work

• Unnamed Item
• Unnamed Item
• Dynamics of the Kirchhoff equations. I: Coincident centers of gravity and buoyancy
• Stabilization of rigid body dynamics by internal and external torques
• Stability of a bottom-heavy underwater vehicle
• Stabilization of underwater vehicle dynamics with symmetry-breaking potentials
• Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
• Stabilization of relative equilibria
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Lie-Poisson structures, dual-spin spacecraft and asymptotic stability
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Stabilization of Hamiltonian systems
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Stabilization of relative equilibria for underactuated systems on Riemannian manifolds

This page was built for publication: Stabilizing underwater vehicle motion using internal rotors