Reduced Attitude Control of a Robotic Underwater Vehicle
This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vector...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2017-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://doi.org/10.1051/matecconf/20179508012 |
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Article |
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doaj-52426d1e77274ca69e558f015075f1672021-02-02T05:56:01ZengEDP SciencesMATEC Web of Conferences2261-236X2017-01-01950801210.1051/matecconf/20179508012matecconf_icmme2017_08012Reduced Attitude Control of a Robotic Underwater VehicleBláha LukášThis paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.https://doi.org/10.1051/matecconf/20179508012 |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Bláha Lukáš |
| spellingShingle |
Bláha Lukáš Reduced Attitude Control of a Robotic Underwater Vehicle MATEC Web of Conferences |
| author_facet |
Bláha Lukáš |
| author_sort |
Bláha Lukáš |
| title |
Reduced Attitude Control of a Robotic Underwater Vehicle |
| title_short |
Reduced Attitude Control of a Robotic Underwater Vehicle |
| title_full |
Reduced Attitude Control of a Robotic Underwater Vehicle |
| title_fullStr |
Reduced Attitude Control of a Robotic Underwater Vehicle |
| title_full_unstemmed |
Reduced Attitude Control of a Robotic Underwater Vehicle |
| title_sort |
reduced attitude control of a robotic underwater vehicle |
| publisher |
EDP Sciences |
| series |
MATEC Web of Conferences |
| issn |
2261-236X |
| publishDate |
2017-01-01 |
| description |
This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method. |
| url |
https://doi.org/10.1051/matecconf/20179508012 |
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AT blahalukas reducedattitudecontrolofaroboticunderwatervehicle |
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