Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

被引：41

作者：

Astolfi, A ^{[1
]}

Chhabra, D

Ortega, R

机构：

[1] Politecn Milan, Dipartimento Elettron & Informaz, I-20133 Milan, Italy

[2] Univ London Imperial Coll Sci Technol & Med, Dept Elect Engn, London SW7 2BT, England

[3] Ecole Super Elect, Signaux & Syst Lab, F-91192 Gif Sur Yvette, France

来源：

SYSTEMS & CONTROL LETTERS | 2002年 / 45卷 / 03期

关键词：

nonlinear systems; passivity; mechanical systems; Kirchoff's equations;

D O I：

10.1016/S0167-6911(01)00176-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The stabilization problem for selected relative equilibria of an underactuated rigid body, modelling a simple underwater vehicle, moving in an ideal fluid is addressed. State feedback control laws achieving local asymptotic stability of a forward motion and of a diving; rising with forward, reverse motion are proposed. The control design exploits the Hamiltonian nature of the system to be controlled and it is based on the so-called interconnection and damping assignment (IDA) procedure. Simulation results complete the work. (C) 2002 Elsevier Science B.V. All rights reserved.

引用

页码：193 / 206

页数：14

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