Stabilization of an underactuated AUV with physical damping on SE(3) via SIDA method

This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) that has three independent inputs: surge moment, yaw moment and pitch moment in the context of Hamilton system on Lie group SE(3) while physical damping terms appear. The control law that consists of two parts is derived from reshaping kinetic energy and reassigning damping terms via simultaneous interconnection and damping assignment(SIDA) method. It can globally stabilize an underactuted AUV that moves along its longitudinal axis with arbitrary designed body velocities, which is a nongeneric relative equilibrium. Further more, the designed relative equilibrium is globally exponentially stable. Simulation results complete the work.