Modification of Hamiltonian Structure to Stabilize An Underwater Vehicle
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Abstract This paper presents new results on stabilization of an underwater vehicle using internal rotors. In previous work, a stabilizing control law was derived which preserves the open-loop Hamiltonian structure in the closed-loop system but which modifies the Hamiltonian. The results presented here illustrate the utility of feedback control that not only shapes the energy but also modifies the Hamiltonian structure.
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