A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle

DOI10.3176/proc.2020.3.05zbMath1467.93067OpenAlexW3048591508MaRDI QIDQ4988435

Ashutosh Simha, Yu. R. Kotta

Publication date: 14 May 2021

Published in: Proceedings of the Estonian Academy of Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3176/proc.2020.3.05

zbMATH Keywords

nonholonomic systemsgeometric controlunderwater robotics

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Cites Work

• An intrinsic PID controller for mechanical systems on Lie groups
• The spring paradigm in tracking control of simple mechanical systems
• A geometric approach to solving problems of control constraints: Theory and a DAE framework
• Analysis and control of nonlinear systems. A flatness-based approach
• Adaptive nonlinear control without overparametrization
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Exponential Stabilization of Nonholonomic Systems by Means of Oscillating Controls
• Introduction to Smooth Manifolds
• Trajectory Tracking for Nonholonomic Vehicles
• A Geometric Approach to the Optimal Control of Nonholonomic Mechanical Systems
• Control and stabilization of nonholonomic dynamic systems
• Almost-Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item

This page was built for publication: A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle