Optimal Kinematic Control of an Autonomous Underwater Vehicle

DOI10.1109/TAC.2009.2017966zbMath1367.70014OpenAlexW2137992145MaRDI QIDQ4974661

William Holderbaum, James Douglas Biggs

Publication date: 8 August 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.2009.2017966

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Hamilton's equations (70H05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Optimal under-actuated kinematic motion planning on the \(\epsilon\)-group ⋮ Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics ⋮ Integrable quadratic hamiltonians on the Euclidean group of motions ⋮ Optimal control of the motion of a helical body in a liquid using rotors ⋮ Modelling and simulation of a robust energy efficient AUV controller ⋮ Asymptotics of Extremal Controls in the Sub-Riemannian Problem on the Group of Motions of Euclidean Space ⋮ Control of the motion of a triaxial ellipsoid in a fluid using rotors

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