- Title
- Port-Hamiltonian control of fully-actuated underwater vehicles
- Creator
- Perez, Tristan; Donaire, Alejandro; Renton, Christopher
- Relation
- Further Advances in Unmanned Marine Vehicles p. 129-147
- Relation
- IET Control Engineering 77
- Relation
- http://www.theiet.org/resources/books/control/marine-vehicles.cfm
- Publisher
- Institution of Engineering and Technology (IET)
- Resource Type
- book chapter
- Date
- 2012
- Description
- Mathematical models of underwater vehicles often present a significant degree of uncertainty. Vehicle dynamic response involves complex hull-fluid interactions that cannot be fully captured by a model over the envelope of sailing conditions. Indeed, the dynamic response to a given force excitation can change depending on the vehicle forward velocity and its proximity of boundaries like the free surface, the seafloor or other larger vehicles. Since vehicle motion follows physical laws of energy, motion control designs based on energy-related properties like passivity and dissipativity have been very successful due to their inherent robustness - see, for example, Astolfi et al. (2002) and Fossen (2011) and references therein. A controller designed so that stability depends only on dissipativity properties can result in closed-loop stability under large parametric uncertainty - even changes in model structure may be tolerated provided the dissipativity properties remain unchanged (Brogliato et al., 2007).
- Subject
- mathematical models; underwater vehicles; vehicle dynamic response
- Identifier
- http://hdl.handle.net/1959.13/1307610
- Identifier
- uon:21470
- Identifier
- ISBN:9781849194792
- Language
- eng
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