Energy regulation of an underwater unmanned vehicle
Abstract
Recently, energy regulation was introduced as a new control objective for robot manipulators, which is based on an energy shaping plus damping injection approach. The theoretical framework is applied in this paper to achieve energy regulation of an underwater unmanned vehicle (AUV). The proposed controller is designed using partial damping injection to generate oscillations in the AUV along the axes, where the user can set a desired frequency and amplitude through explicit controller tuning guidelines. An advantage of the proposed controller is that it requires less control effort than a trajectory tracking controller with full damping injection, which can be useful in minimizing AUV power consumption. Numerical simulations on a fully actuated six degree-offreedom AUV model are shown to illustrate the performance of the proposed controller.
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Copyright (c) 2023 Jesús Alberto Sandoval-Galarza, César Higuera-Verdugo, Víctor Adrián Santibáñez-Dávila, Jorge Villalobos-Chin
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