Control IDA-PBC de un Vehículo Submarino Subactuado

Diego García, Jesús Sandoval, Joaquín Gutiérrez–Jagüey, Eusebio Bugarin

Resumen

En este trabajo se presenta el diseño de un IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) para la regulación de un vehículo submarino subactuado. Se consideran seis grados de libertad y cuatro propulsores como actuadores, lo cual es un desafío para su control de movimiento. Específicamente, el IDA-PBC diseñado permite llevar el vehículo a una profundidad y orientación deseadas y constantes. Resultados de simulación sobre el modelo del vehículo submarino utilizado validan el desempeño del sistema de control propuesto.


Palabras clave

Vehículo submarino; sistema subactuado; control no lineal; IDA-PBC

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Referencias

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