Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory |
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| Affiliation: | 1. Maritime Division, Defence Science and Technology Organisation, Fisherman''s Bend VIC 3207, Australia;2. School of Engineering, The University of Newcastle, Callaghan NSW 2308, Australia;3. Science and Engineering Faculty, Queensland University of Technology, Brisbane QLD 4000, Australia;1. Center for Research and Advanced Studies (Cinvestav), Robotics and Advanced Manufacturing Department, Saltillo Campus, Mexico;2. Université de Technologie de Compiègne, France |
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| Abstract: | This paper presents a motion control system for guidance of an underactuated Unmanned Underwater Vehicle (UUV) on a helical trajectory. The control strategy is developed using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Using energy routing, the trajectory of a virtual fully actuated plant is guided onto a vector field. A tracking controller is then used that commands the underactuated plant to follow the velocity of the virtual plant. An integral control is inserted between the two control layers, which adds robustness and disturbance rejection to the design. |
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| Keywords: | Unmanned underwater vehicle Guidance Energy routing Nonlinear systems Energy-based control Port-Hamiltonian systems |
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