Stabilization of Underwater Vehicle Dynamics with Symmetry-Breaking Potentials
In Systems and Control Letters, Volume 32, October 1997, pages 35-42.
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.
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