Underwater Vehicle Stabilization by Internal Rotors
C.A. Woolsey and N.E. Leonard
Proceedings of the American Control Conference,
Internal rotors may usefully complement more conventional
means of underwater vehicle actuation by extending
regime and improving reliability.
In this paper we describe stabilizing control
laws for an underwater vehicle using internal rotors.
Our stabilizing control laws consist of two terms:
the first term addresses the conservative part of the
system by shaping energy to yield Lyapunov stability,
while the second term adds dissipation to ensure
asymptotic stability to the motion of interest.
Back to home page