Control IDA-PBC de un Vehículo Submarino Subactuado

Abstract

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 offers a main control challenge. Specifically, the IDA-PBC proposed drives the vehicle towards a desired deep and orientation. Simulation results on a vehicle model validate the performance of the control scheme proposed.