IDA-PBC Control of an Underactuated Underwater Vehicle
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 Authors: | , , , |
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| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politècnica de València
2017-12-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/8829 |