A First Extension of Geometric Control Theory to Underwater Vehicles*
نویسندگان
چکیده
منابع مشابه
A First Extension of Geometric Control Theory to Underwater Vehicles ?
This paper serves as a first study on the implementation of control strategies developed using a kinematic reduction onto test bed autonomous underwater vehicles (AUVs). The equations of motion are presented in the framework of differential geometry, including external dissipative forces, as a forced affine connection control system. We show that the hydrodynamic drag forces can be included in ...
متن کاملControl of Autonomous Underwater Vehicles
a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electric...
متن کاملA Geometric Analysis of Trajectory Design for Underwater Vehicles∗†
Designing trajectories for a submerged rigid body motivates this paper. Two approaches are addressed: the time optimal approach and the motion planning approach using concatenation of kinematic motions. We focus on the structure of singular extremals and their relation to the existence of rank-one kinematic reductions; thereby linking the optimization problem to the inherent geometric framework...
متن کاملRobust control of autonomous underwater vehicles
My work is included in the framework of the FeedNetBack project. The objective of the project isthe collaborative control of several autonomous underwater vehicles (AUV). The first step of thisfinal year project is the realization of an efficient Matlab/Simulink model of the submersible, basedon Ifremer (marine vehicle constructor) data. Thus, the aim is to control the vehicle b...
متن کاملTracking Control of Autonomous Underwater Vehicles
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2008
ISSN: 1474-6670
DOI: 10.3182/20080408-3-ie-4914.00015