Applying Inertia Matrix Decomposition to Determine Controller Gains for Marine Vehicles
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2024
rozdział w monografii naukowej / referat
angielski
- nonlinear tracking control
- underwater marine vehicle
- transformed equations of motion application
- simulation
EN This work concerns an attempt to solve the problem of selecting controller gains based on decompositions of the inertia matrix. The results presented are limited to the task of trajectory tracking by fully actuated underwater vehicles. The proposed approach uses properties of Inertial Quasi-Velocities (IQV) known from the literature. The novelty is to show that by means of the examination of vehicle dynamics, it is possible to tune the controller described by classical variables and to show the effects of disturbances not adequately taken into account due to the displacement of the vehicle’s center of mass. An algorithm for conducting gain selection and simulation examples of its application to a 6 DOF underwater vehicle model are proposed.
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