Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

DOI10.1016/S0167-6911(01)00176-1zbMath0987.93066MaRDI QIDQ5958486

D. Chhabra, Alessandro Astolfi, Romeo S. Ortega

Publication date: 3 March 2002

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

relative equilibriastabilizationnonlinear systemsmechanical systemspassivityinterconnectiondamping assignmentKirchoff's equationsunderactuated rigid bodyunderwater vehicle

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (10)

Underwater robots. Motion and force control of vehicle-manipulator systems. ⋮ Asymptotic bp-stabilization of a given closed invariant set of a smooth dynamical system ⋮ Dynamic positioning of marine craft using a port-Hamiltonian framework ⋮ Designing of robust adaptive passivity-based controller based on reinforcement learning for nonlinear port-Hamiltonian model with disturbance ⋮ ON THE CONTROL OF THE MOTION OF A BOAT ⋮ A switched controller for an underactuated underwater vehicle ⋮ Interconnection and damping assignment passivity-based control: a survey ⋮ Trajectory tracking passivity-based control for marine vehicles subject to disturbances ⋮ Stabilisation of a relative equilibrium of an underactuated AUV on SE(3) ⋮ Universal controllers for stabilization and tracking of underactuated ships.

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