Moving Mass Control for Underwater Vehicles
نویسندگان
چکیده
We present two reduced-dimensional, noncanonical Hamiltonian models for a neutrally buoyant underwater vehicle coupled to an internal moving mass. It is expected that these models will be useful in designing nonlinear control laws for underwater gliders as well as for spacecraft, atmospheric re-entry vehicles, and other vehicles which use internal moving mass actuators. To illustrate, we investigate stability of a steady underwater vehicle motion using potential shaping feedback with a moving mass actuator.
منابع مشابه
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملUnderwater Glider Dynamics and Control
In this work, we build on our earlier results and accomplishments in understanding, modeling and controlling underwater glider dynamics (YIP Grant # N00014-98-1-0649). The focus is on dedicated gliding vehicles that have the ability to change mass (or volume) for buoyancy control and to redistribute mass (and possibly control a rudder) for attitude control. The framework consists of a dynamical...
متن کاملNonlinear Stability and Control of Gliding Vehicles
In this thesis we use nonlinear systems analysis to study dynamics and design control solutions for vehicles subject to hydrodynamic or aerodynamic forcing. Application of energy-based methods for such vehicles is challenging due to the presence of energyconserving lift and side forces. We study how the lift force determines the geometric structure of vehicle dynamics. A Hamiltonian formulation...
متن کاملCoordinated Path-Following Control of Multiple Autonomous Underwater Vehicles
The concept of multiple Autonomous Underwater Vehicles (AUVs) cooperatively performing a mission offers several advantages over single vehicles working in a non-cooperative manner such as increased efficiency, performance, reconfigurability, robustness and the emergence of new capabilities. This paper introduces the concept of coordinated path-following control of multiple AUVs. The vehicles ar...
متن کاملUNDERWATER GLIDERS: DYNAMICS, CONTROL AND DESIGN Joshua Grady Graver A DISSERTATION PRESENTED TO THE FACULTY OF PRINCETON UNIVERSITY IN CANDIDACY FOR THE DEGREE OF DOCTOR OF PHILOSOPHY RECOMMENDED FOR ACCEPTANCE BY THE DEPARTMENT OF MECHANICAL AND AEROSPACE ENGINEERING
This dissertation concerns modelling the dynamics of underwater gliders and application of the model to analysis of glider dynamics, control, navigation, and design. Underwater gliders are a novel type of autonomous underwater vehicle that glide by controlling their buoyancy and attitude using internal actuators. We develop a first principles based model of the dynamics of a general underwater ...
متن کامل