Autonomous underwater vehicles : modeling, control design, and simulation

Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation......Page 2
Contents......Page 8
Preface......Page 12
About the Authors......Page 13
1.1 Overview......Page 14
1.2 Examples of Underwater Vehicle Construction......Page 17
1.2.1.1 Wings......Page 19
1.2.1.2 Propellers......Page 21
1.2.2 Commercially Available Underwater Vehicles......Page 24
1.3.1 Frenet–Serret Equations for Cartan Moving Frame......Page 25
1.3.2.1 Rotation of a Vector......Page 31
1.3.2.3 Representation of a Rotated Frame......Page 32
1.3.2.4 Group Representation......Page 33
1.3.2.5 Homogeneous Representation......Page 35
1.4.1 Matrix Groups......Page 36
1.4.2 Lie Groups......Page 39
2.1 Motion Planning of Nonholonomic Systems......Page 42
2.2 Nonholonomic Constraints......Page 43
2.3 Problem Description......Page 44
2.4 Control Model Formulation......Page 46
2.5 Controllability Issues......Page 47
2.6.1 Controllability and Stabilization at a Point......Page 48
2.6.4 Exact Feedback Linearization......Page 49
2.6.6 Dynamic Feedback Linearization......Page 50
2.7 Examples of Nonholonomic Systems......Page 51
3.1.1 Kinematic Modeling and Nonholonomic Constraints......Page 54
3.1.2 Kinematic Model with Respect to Global Coordinates......Page 55
3.2.1 Controllability about a Point......Page 59
3.2.2 Controllability about a Trajectory......Page 61
3.3 Chained Forms......Page 63
4.2 Reference Trajectory Generation......Page 68
4.3 Control Using Approximate Linearization......Page 71
4.3.1 Simulation of the Controller......Page 74
4.3.2 MATLAB® Program Code for the Approximate Linearization......Page 81
4.4 Control Using Exact Feedback Linearization via State and Input Transformations......Page 90
4.4.1 Control Using Exact Feedback Linearization via Static Feedback......Page 91
4.4.2 Control Using Exact Feedback Linearization via Dynamic Feedback......Page 92
4.4.3 Simulation of the Controller......Page 94
4.4.4 MATLAB Program Code for Dynamic Extension......Page 101
4.5 Point-to-Point Stabilization......Page 111
4.5.2 Power Form......Page 112
4.5.3 Control Design with Smooth Time-Varying Feedback......Page 113
4.5.4 Simulation of the Controller......Page 114
4.5.5 MATLAB Program Code for Point Stabilization......Page 120
5.1 Dynamic Modeling......Page 130
5.2 Point-to-Point Stabilization Control Design......Page 131
5.2.1 State Feedback Control Using Backstepping......Page 132
5.2.2 Control with Smooth Time-Varying Feedback......Page 133
5.2.3 Lyapunov Stability Analysis......Page 134
5.2.4 Control of the Dynamic Model......Page 135
6.1 Robust Control Using the Kinematic Model......Page 140
6.1.1 Input Uncertain Control Model......Page 141
6.1.2 Robust Control by the Lyapunov Redesign Method......Page 143
6.2 Robust Control Using the Dynamic Model......Page 146
6.2.1 Robust Backstepping: Unmatched Uncertainty......Page 147
6.2.2 Robust Control: Matched Uncertainty......Page 150
6.2.3 Robust Control: Both Matched and Unmatched Uncertainties......Page 153
References......Page 156