Abstract
A quadrotor-like autonomous underwater vehicle that is similar to, yet different from quadrotor unmanned aerial vehicles, has been reported recently. This article investigates the stability and nonlinear controllability properties of the vehicle. First, the 12-degree-of-freedom model of the vehicle deploying an X shape actuation system is developed. Then, a stability property is investigated showing that the vehicle cannot be stabilized by a time invariant smooth state feedback law. After that, by adopting a nonlinear controllability analysis tool in geometric control theory, the small-time local controllability of the vehicle is analyzed for a variety of cases, including the vertical plane motion, the horizontal plane motion, and the three-dimensional space motion. Finally, different small-time local controllability conditions for different cases are developed. The result shows that the small-time local controllability holds for vertical plane motion and horizontal plane motion. However, the full degree of freedom kinodynamics model (i.e. 12 states) of the vehicle does not satisfy the small-time local controllability from zero-velocity states.
Highlights
Autonomous underwater vehicles (AUVs) have been under development since the early 1970s
We investigate the stability of the quadrotorlike AUV (QLAUV) considering 12-degree-of-freedom (DOF) states
We investigate the small-time local controllability (STLC) of the QLAUV considering different cases such as the dynamic and kinodynamic models using geometric control theory
Summary
Autonomous underwater vehicles (AUVs) have been under development since the early 1970s. Gao and Zhao[11] discussed the linear controllability of a twodimensional translational oscillators with rotating actuator (2-DTORA) when the 2-DTORA system is on the horizontal plane and on a slope, respectively Speaking, it is much challenging for studying nonlinear controllability due to various types of nonlinear systems. The QLAUV was firstly introduced by Bian et al.[25] and has been reported recently by Bian and Xiang[26] to implement various motions using a sliding mode controller It is developed under the project of the State Key Laboratory of Industrial Control Technology. Assume that the center of gravity (CG) of the vehicle is coincident with ob and the underwater vehicle is naturally buoyant With these assumptions and neglecting hydrostatics produced by gravitational/buoyancy forces and torques due to the existence of the metacentric height, the kinematics and dynamics modeling of the QLAUV moving in 12-DOF is[27]. Hydrodynamic Coriolis, damping, and actuation system, respectively, and will be defined in the sequel
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