A switched controller for an underactuated underwater vehicle

V. Sankaranarayanan1, Arun D. Mahindrakar2, Ravi N. Banavar1
1Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai 400 076, India
2Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, 600 036, India

Tài liệu tham khảo

Reyhanoglu, 1999, Dynamics and control of a class of underactuated mechanical systems, IEEE Trans Automat Control, 44, 1663, 10.1109/9.788533 Reyhanoglu, 2000, Discontinuous feedback control of a special class of underactuated mechanical systems, Int J Robust Nonlinear Control, 24, 265, 10.1002/(SICI)1099-1239(20000415)10:4<265::AID-RNC470>3.0.CO;2-N Ortega, 2002, Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment, IEEE Trans Automat Control, 47, 1218, 10.1109/TAC.2002.800770 Banavar, 2006 Petterson KY, Egeland O. Exponential stabilization of an underactuated surface vessel. In: Proceedings 35 th IEEE conf on decision and control, 1996. p. 67–971. Reyhanoglu, 1997, Exponential stabilization of an underactuated autonomous surface vessel, Automatica, 33, 2249, 10.1016/S0005-1098(97)00141-6 Sankaranarayanan V, Mahindrakar AD, Banavar RN. A switched finite-time point-to-point control of an underactuated underwater vehicle. In: Proceedings of IEEE international conference on control and application, Istanbul, Turkey, September 2003. p. 706–11. Sankaranarayanan V, Banavar RN. Stabilization of an underwater vehicle. In: Proceedings of 16 th IFAC world congress, Prague, July 2005. Brockett, 1983, Asymptotic stability and feedback stabilization, 181 A.P.R. de Aguiar, Nonlinear motion control of nonholonomic and underactuated systems. PhD thesis, Universidade Tecnica de Lisboa Instituto Superior Tecnico, Portugal, 2002. Laiou, 1999, Discontinuous control of high-order generalized chained systems, Syst Control Lett, 37, 309, 10.1016/S0167-6911(99)00037-7 Astolfi, 2002, Asymptotic stabilization of some equilibria of an underactuated underwater vehicle, Syst Control Lett, 45, 193, 10.1016/S0167-6911(01)00176-1 Do, 2002, Universal controllers for stabilization and tracking of underactuated ship, Syst Control Lett, 47, 299, 10.1016/S0167-6911(02)00214-1 Bhat, 2000, Finite-time stability of continuous autonomous systems, SIAM J Control Optimiz, 38, 751, 10.1137/S0363012997321358 Haimo, 1986, Finite-time controllers, SIAM J Control Optimiz, 24, 760, 10.1137/0324047 Levant, 2007, Principle of 2-sliding mode design, Automatica, 43, 576, 10.1016/j.automatica.2006.10.008 Utkin, 1977, Variable structure systems with sliding modes, IEEE Trans Automat Control, 22, 212, 10.1109/TAC.1977.1101446 Bhat, 1998, Continuous finite-time stabilization of the translational and rotational double integrators, IEEE Trans Automat Control, 43, 678, 10.1109/9.668834