首页 | 本学科首页   官方微博 | 高级检索  
     


Stabilization of underwater vehicle dynamics with symmetry-breaking potentials
Authors:NE Leonard
Affiliation:Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA
Abstract:We show how to stabilize, in stages, arbitrary steady translations of an underwater vehicle with feedback that derives from a potential and deliberately breaks symmetry in the dynamics. First, rotational symmetry is broken to ensure stability in the momentum parameters. Then, translational symmetry is broken to prevent drift. Stability of the closed-loop system is proved using the energy-Casimir method. A resulting property of the control law is robustness to model parameter uncertainty.
Keywords:Stabilization  Underwater vehicle  Symmetry  Potentials  Energy-Casimir  Kirchhoff equations  Hamiltonian
本文献已被 ScienceDirect 等数据库收录!
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号