Control of underwater vehicles in inviscid fluids
نویسندگان
چکیده
منابع مشابه
Control of Underwater Vehicles in Inviscid Fluids. I: Irrotational Flows
In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the boundary of the rigid body, we obtain a finite-dimensional system similar to Kirchhoff laws in which the control input appears through both linear terms (with t...
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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...
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In this paper, we present a formation-keeping control of multiple autonomous underwater vehicles(UAVs) in 3D space. We use a so-called LeaderFollower formation approach, and our control task is to keep the relative position of each follower with a desired orientation to the leader. An Input/Output linearization is applied to the error system whose coordinates are the differences between a targe...
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ژورنال
عنوان ژورنال: ESAIM: Control, Optimisation and Calculus of Variations
سال: 2014
ISSN: 1292-8119,1262-3377
DOI: 10.1051/cocv/2013079