Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release  

作　　者：DENG Xu FENG Zhengping HE Chenlu CUI Zhenhua 邓旭;冯正平;何晨璐;崔振华(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai,200240,China;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai,200240,China)

机构地区：[1]School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai,200240,China [2]State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai,200240,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第5期766-772,共7页上海交通大学学报（英文版）

摘　　要：Large unmanned underwater vehicles can carry big payloads for varied missions and it is desirable for them to possess an upright orientation during payload release.Their attitude can hardly be maintained during and after the phase of payload release.Releasing a payload from the vehicle induces uncertainties not only in rigid-body parameters,e.g,the moment of inertia tensor due to the varying distribution of the masses on board the vehicle,but also in the hydrodynamic derivatives due to the vehicle’s varying geometric profile.A nonlinear attitude stabilizer that is robust to these time-varying model uncertainties is proposed in this paper.Stability is guaranteed via Lyapunov stability theory.The simulation results verify the effectiveness of the proposed approach.

关 键 词：unmanned underwater vehicle payloads release attitude stabilization Lyapunov stability 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]