Open AccessControl IDA-PBC de un Vehículo Submarino Subactuado
Author(s) -
Diego López-García,
Jesús Sandoval,
Joaquín Gutiérrez–Jagüey,
Eusebio Bugarín
Publication year - 2017
Publication title -
revista iberoamericana de automática e informática industrial
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.27
H-Index - 16
eISSN - 1697-7920
pISSN - 1697-7912
DOI - 10.4995/riai.2017.8829
Subject(s) - passivity , physics , humanities , computer science , philosophy , engineering , electrical engineering
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 main control challenge. Specifically, the IDA-PBC proposed drives the vehicle towards a desired deep and orientation. Simulation results on a vehicle model validate the performance of the control scheme proposed