Stability Analysis and Geometric Control for a Bluff-Body Hydrodynamic Vehicle

Abstract

In this work, the bluff-body hydrodynamic robotic system, RoboRay, is introduced, and an early framework for modeling, stability, and control is developed. A model is proposed for the system, including a fluid dynamics models that includes hydrodynamic forces and added mass and inertia considerations. Nonlinear and linear stability analyses are then performed on the system, and sufficient conditions for nonlinear stability are provided. A geometric backstepping controller with trajectory tracking is then developed for the system. Simulations are performed of both the controlled and uncontrolled system in order to better understand its behavior. The simulations provide insight into potentially highly stable modes, and guidelines for future controller improvement.