A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances

Dimitra Panagou; Kostas Margellos; Sean Summers; John Lygeros; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2009.5400954

A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances

Dimitra Panagou, Kostas Margellos, Sean Summers, John Lygeros, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper we present a viability-based formulation for the stabilization of an underactuated underwater vehicle under the influence of a known, constant current and state constraints. The stabilization problem is described by three problems in terms of viability theory. We present a solution to the first problem which addresses the safety of the system, i.e. guarantees that there exists a control law such that the vehicle always remains into the safe set of state constraints. In order to overcome the computational limitations due to the high dimension of the system we develop a two-stage approach, based on forward reachability and game theory. The control law is thus the safety controller when the system viability is at stake, i.e. close to the boundary of the safe set. The viability kernel and the control law are numerically computed.

Original language	English (US)
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8612-8617
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5400954
State	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: Dec 15 2009 → Dec 18 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	12/15/09 → 12/18/09

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2009.5400954

Cite this

Panagou, D., Margellos, K., Summers, S., Lygeros, J., & Kyriakopoulos, K. J. (2009). A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 8612-8617). Article 5400954 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5400954

A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances. / Panagou, Dimitra; Margellos, Kostas; Summers, Sean et al.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 8612-8617 5400954 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Panagou, D, Margellos, K, Summers, S, Lygeros, J & Kyriakopoulos, KJ 2009, A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5400954, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 8612-8617, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 12/15/09. https://doi.org/10.1109/CDC.2009.5400954

Panagou D, Margellos K, Summers S, Lygeros J, Kyriakopoulos KJ. A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 8612-8617. 5400954. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5400954

Panagou, Dimitra ; Margellos, Kostas ; Summers, Sean et al. / A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 8612-8617 (Proceedings of the IEEE Conference on Decision and Control).

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abstract = "In this paper we present a viability-based formulation for the stabilization of an underactuated underwater vehicle under the influence of a known, constant current and state constraints. The stabilization problem is described by three problems in terms of viability theory. We present a solution to the first problem which addresses the safety of the system, i.e. guarantees that there exists a control law such that the vehicle always remains into the safe set of state constraints. In order to overcome the computational limitations due to the high dimension of the system we develop a two-stage approach, based on forward reachability and game theory. The control law is thus the safety controller when the system viability is at stake, i.e. close to the boundary of the safe set. The viability kernel and the control law are numerically computed.",

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AB - In this paper we present a viability-based formulation for the stabilization of an underactuated underwater vehicle under the influence of a known, constant current and state constraints. The stabilization problem is described by three problems in terms of viability theory. We present a solution to the first problem which addresses the safety of the system, i.e. guarantees that there exists a control law such that the vehicle always remains into the safe set of state constraints. In order to overcome the computational limitations due to the high dimension of the system we develop a two-stage approach, based on forward reachability and game theory. The control law is thus the safety controller when the system viability is at stake, i.e. close to the boundary of the safe set. The viability kernel and the control law are numerically computed.

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A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances

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