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IDA-PBC Control of an Underactuated Underwater Vehicle

This paper presents an IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) for underactuated undewater vehicle control, which it has more degree of freedom than actuators. In this proposal, six degree of freedom and only four propels as actuators are considered, which it oers a...

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Principais autores: Diego García, Jesús Sandoval, Joaquín Gutiérrez–Jagüey, Eusebio Bugarin
Format: Artigo
Sprog:Espanhol
Udgivet: Universitat Politècnica de València 2017-12-01
Serier:Revista Iberoamericana de Automática e Informática Industrial RIAI
Fag:
Vehículo submarino
sistema subactuado
control no lineal
IDA-PBC
Online adgang:https://polipapers.upv.es/index.php/RIAI/article/view/8829
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