Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory

Authors

Francis Valentinis, Alejandro Donaire, Tristan Perez

Abstract

This paper presents a motion control system for guidance of an underactuated Unmanned Underwater Vehicle (UUV) on a helical trajectory. The control strategy is developed using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Using energy routing, the trajectory of a virtual fully actuated plant is guided onto a vector field. A tracking controller is then used that commands the underactuated plant to follow the velocity of the virtual plant. An integral control is inserted between the two control layers, which adds robustness and disturbance rejection to the design.

Keywords

Unmanned underwater vehicle; Guidance; Energy routing; Nonlinear systems; Energy-based control; Port-Hamiltonian systems

Citation

• Journal: Control Engineering Practice
• Year: 2015
• Volume: 44
• Issue:
• Pages: 138–156
• Publisher: Elsevier BV
• DOI: 10.1016/j.conengprac.2015.07.010

BibTeX

@article{Valentinis_2015,
  title={{Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory}},
  volume={44},
  ISSN={0967-0661},
  DOI={10.1016/j.conengprac.2015.07.010},
  journal={Control Engineering Practice},
  publisher={Elsevier BV},
  author={Valentinis, Francis and Donaire, Alejandro and Perez, Tristan},
  year={2015},
  pages={138--156}
}

Download the bib file

References

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