Nonlinear gliding stability and control for vehicles with hydrodynamic forcing

被引：74

作者：

Bhatta, Pradeep ^{[1
]}

Leonard, Naomi Ehrich ^{[2
]}

机构：

[1] Princeton Satellite syst, Princeton, NJ 08542 USA

[2] Princeton Univ, Dept Mech & Aerosp Engn, Princeton, NJ 08544 USA

来源：

AUTOMATICA | 2008年 / 44卷 / 05期

关键词：

singular perturbation methods; nonlinear stability; Lyapunov-based control; composite lyapunov function; Hamiltonian system; underwater gliders; gliders; phugoid mode;

D O I：

10.1016/j.automatica.2007.10.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents Lyapunov functions for proving the stability of steady gliding motions for vehicles with hydrodynamic or aerodynamic forces and moments. Because of lifting forces and moments, system energy cannot be used as a Lyapunov function candidate. A Lyapunov function is constructed using a conservation law discovered by Lanchester in his classical work on phugoid-mode dynamics of an airplane. The phugoid-mode dynamics, which are cast here as Hamiltonian dynamics, correspond to the slow dynamics in a multi-time-scale model of a hydro/aerodynamically-forced vehicle in the longitudinal plane. Singular perturbation theory is used in the proof of stability of gliding motions. As an intermediate step, the simplifying assumptions of Lanchester are made rigorous. It is further shown how to design stabilizing control laws for gliding motions using the derived function as a control Lyapunov function and how to compute the corresponding regions of attraction. (c) 2008 Elsevier Ltd. All rights reserved.

引用

页码：1240 / 1250

页数：11

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