Stabilization of an underactuated AUV with physical damping on SE(3) via SIDA method

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	Stabilization of an underactuated AUV with physical damping on SE(3) via SIDA method
	Niu, Hongjiao ; Geng, Zhiyong
	2016
DOI	10.1109/ChiCC.2016.7553196
英文摘要	This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) that has three independent inputs: surge moment, yaw moment and pitch moment in the context of Hamilton system on Lie group SE(3) while physical damping terms appear. The control law that consists of two parts is derived from reshaping kinetic energy and reassigning damping terms via simultaneous interconnection and damping assignment(SIDA) method. It can globally stabilize an underactuted AUV that moves along its longitudinal axis with arbitrary designed body velocities, which is a nongeneric relative equilibrium. Further more, the designed relative equilibrium is globally exponentially stable. Simulation results complete the work. ? 2016 TCCT.; EI; 873-878; 2016-August
会议录	35th Chinese Control Conference, CCC 2016
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/449416]
专题	工学院
推荐引用方式 GB/T 7714	Niu, Hongjiao,Geng, Zhiyong. Stabilization of an underactuated AUV with physical damping on SE(3) via SIDA method[C]. 见:.