Stabilization of coordinated motion for underwater vehicles  

作　　者：Fan Wu Zhi-Yong Geng 

机构地区：[1]State Key Laboratory for Turbulence and Complex Systems, Peking University, 100871 Beijing, China

出　　处：《Acta Mechanica Sinica》2011年第3期438-444,共7页力学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (11072002, 10832006)

摘　　要：This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest（unstable） axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest（unstable） axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.

关 键 词：Underwater vehicles . Coordination .Relativeequilibria. Stabilization. Energy shaping 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U674.941[自动化与计算机技术—控制科学与工程]