Underwater vehicle stabilization by internal rotors

Craig A. Woolsey, Naomi Ehrich Leonard

Research output: Contribution to journalConference articlepeer-review

11 Scopus citations


Internal rotors may usefully complement more conventional means of underwater vehicle actuation by extending the operating regime and improving reliability. In this paper we describe stabilizing control laws for an underwater vehicle using internal rotors. Our stabilizing control laws consist of two terms: the first term addresses the conservative part of the system by shaping energy to yield Lyapunov stability, while the second term adds dissipation to ensure asymptotic stability to the motion of interest.

Original languageAmerican English
Pages (from-to)3417-3421
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Dec 1 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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