Stability of a bottom-heavy underwater vehicle

被引：148

作者：

Leonard, NE

机构：

来源：

AUTOMATICA | 1997年 / 33卷 / 03期

关键词：

stability; dynamic stability; underwater vehicle dynamics; marine systems; stabilization;

D O I：

10.1016/S0005-1098(96)00176-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Conditions for stability of underwater vehicle dynamics are established as a function of vehicle shape, mass distribution and equilibrium velocity using methods from geometric mechanics.

引用

页码：331 / 346

页数：16

共 23 条

[1] ON STABILIZATION BY MEANS OF THE ENERGY-CASIMIR METHOD [J].

AEYELS, D .

SYSTEMS & CONTROL LETTERS, 1992, 18 (05) :325-328

[2]

[Anonymous], CONT MATH

[3]

ARNOLD VI, 1993, ENCY MATH, V3

[4] STABILIZATION OF RIGID BODY DYNAMICS BY INTERNAL AND EXTERNAL TORQUES [J].

BLOCH, AM ;

KRISHNAPRASAD, PS ;

MARSDEN, JE ;

DEALVAREZ, GS .

AUTOMATICA, 1992, 28 (04) :745-756

[5] DISSIPATION INDUCED INSTABILITIES [J].

BLOCH, AM ;

KRISHNAPRASAD, PS ;

MARSDEN, JE ;

RATIU, TS .

ANNALES DE L INSTITUT HENRI POINCARE-ANALYSE NON LINEAIRE, 1994, 11 (01) :37-90

[6] ADAPTIVE SLIDING MODE CONTROL OF AUTONOMOUS UNDERWATER VEHICLES IN THE DIVE PLANE [J].

CRISTI, R ;

PAPOULIAS, FA ;

HEALEY, AJ .

IEEE JOURNAL OF OCEANIC ENGINEERING, 1990, 15 (03) :152-160

[7] POSITION AND ATTITUDE TRACKING OF AUVS - A QUATERNION FEEDBACK APPROACH [J].

FJELLSTAD, OE ;

FOSSEN, TI .

IEEE JOURNAL OF OCEANIC ENGINEERING, 1994, 19 (04) :512-518

[8]

Fossen T.I., 1999, Guidance and control of ocean vehicles

[9]

Holm D. D., 1985, Physics Reports, V123, P1, DOI 10.1016/0370-1573(85)90028-6

[10]

KOCHEN NE, 1964, THEORETICAL HYDROMEC

← 1 2 3 →