Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory

Authors

Francis Valentinis, Alejandro Donaire, Tristan Perez

Abstract

This paper presents a control design for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle (UUV). The control design is based on Port-Hamiltonian theory. The target dynamics (desired dynamic response) is shaped with particular attention to the target mass matrix so that the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of uncontrolled states. Throughout the design, insight of the physical phenomena involved is used to propose the desired target dynamics. The performance of the design is demonstrated through simulation with a high-fidelity model.

Citation

• Journal: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
• Year: 2013
• Volume:
• Issue:
• Pages: 1546–1551
• Publisher: IEEE
• DOI: 10.1109/aim.2013.6584315

BibTeX

@inproceedings{Valentinis_2013,
  title={{Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory}},
  DOI={10.1109/aim.2013.6584315},
  booktitle={{2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics}},
  publisher={IEEE},
  author={Valentinis, Francis and Donaire, Alejandro and Perez, Tristan},
  year={2013},
  pages={1546--1551}
}

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References

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