Moving Mass Control for Underwater Vehicles
Craig Woolsey and Naomi Ehrich Leonard
To appear Proceedings American Control Conference,
2002
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.