Large unmanned underwater vehicles can carry big payloads for varied missions and it is desirable for
them to possess an upright orientation during payload release. Their attitude can hardly be maintained during
and after the phase of payload release. Releasing a payload from the vehicle induces uncertainties not only in
rigid-body parameters, e.g, the moment of inertia tensor due to the varying distribution of the masses on board
the vehicle, but also in the hydrodynamic derivatives due to the vehicle’s varying geometric profile. A nonlinear
attitude stabilizer that is robust to these time-varying model uncertainties is proposed in this paper. Stability is
guaranteed via Lyapunov stability theory. The simulation results verify the effectiveness of the proposed approach.
邓旭a，冯正平a
,
b，何晨璐a，崔振华a
. Attitude Stabilization of Unmanned Underwater Vehicle During
Payloads Release[J]. Journal of Shanghai Jiaotong University(Science), 2024
, 29(5)
: 766
-772
.
DOI: 10.1007/s12204-023-2598-7
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