Global stabilization of an underactuated autonomous underwater vehicle via logic-based switching

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2002

Autores

Aguiar, AP (Autor) Outra; Pascoal, AM (Autor) Outra

Ata de Conferência Internacional

Título: PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4

Páginas: 3267-3272

41st IEEE Conference on Decision and Control

LAS VEGAS, NV, DEC 10-13, 2002

Indexação

ISI Web of Knowledge - 14 Citações

Scopus - 24 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-000-RVK

Abstract (EN): This paper considers the problem of global stabilization of an underactuated autonomous underwater vehicle (AUV) to a point, with a desired orientation. Controllability and stabilizability properties of the vehicle model are discussed and a logic-based hybrid controller is proposed that yields global convergence of the AUV to an arbitrarily small neighborhood of the target point. Convergence and stability of the closed loop system are analyzed. To illustrate the control law developed, simulation results are presented using the model of the Sirene AUV.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6