Reduced Attitude Control of a Robotic Underwater Vehicle
BLÁHA, L. Reduced Attitude Control of a Robotic Underwater Vehicle. University of Tokyo, Japonsko, 2016.
|Anglický název:||Reduced Attitude Control of a Robotic Underwater Vehicle|
|Autoři:||Ing. Lukáš Bláha Ph.D. ,|
|Abstrakt EN:||This presentation 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 over-actuated 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.|