Underwater Vehicle Stabilization by Internal Rotors

C.A. Woolsey and N.E. Leonard

Proceedings of the American Control Conference, June 1999.


Internal rotors may usefully complement more conventional means of underwater vehicle actuation by extending the operating 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.

Postscript Version (5 pages postcript)

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