Moving mass control for underwater vehicles

被引：0
|
作者：
Woolsey, CA [1 ]
Leonard, NE [1 ]
机构：
[1] Virginia Tech, Blacksburg, VA 24061 USA
来源：
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2002年 / 1-6卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2824 / 2829
页数：6
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