IDA-PBC Control of an Underactuated Underwater Vehicle

被引：2
|
作者：
Garcia, Diego [1 ]
Sandoval, Jesus [1 ]
Gutierrez-Jagucy, Joaquin [2 ]
Bugarin, Eusebio [3 ]
机构：
[1] Inst Tecnol La Paz, Tecnol Nacl Mexico, Blvd Forjadores BCS 4720, La Paz, Bcs, Mexico
[2] Inst Politecn Nacl, Ctr Invest Biol Noroeste SC CIBNOR, 195 Playa Palo Santa Rita Sur, La Paz, Bcs, Mexico
[3] Inst Tecnol Ensenada, Tecnol Nacl Mexico, Blvd Tecnol,150 Ex Ejido Chapultepec, Ensenada, Baja California, Mexico
来源：
REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2018年 / 15卷 / 01期
关键词：
Underwater vehicle; underactuated system; non-linear control; IDA-PBC; PASSIVITY-BASED CONTROL; DAMPING ASSIGNMENT; MECHANICAL SYSTEMS; INTERCONNECTION; STABILIZATION;
D O I：
10.4995/riai.2017.8829
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 an IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) for underactuated undewater vehicle control, which it has more degree of freedom than actuators. In this proposal, six degree of freedom and only four propels as actuators are considered, which it offers a main control challenge. Specifically, the IDA-PBC proposed drives the vehicle towards a desired deep and orientation. Simulation results on a vehicle model validate the performance of the control scheme proposed.
引用
收藏
页码：36 / 45
页数：10
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