首页|Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release
Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release
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维普
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.
万方数据
维普
