Controlling a Submerged Rigid Body: A Geometric Analysis

DOI10.1007/978-3-540-73890-9_30zbMath1140.70479OpenAlexW2118051419MaRDI QIDQ5436788

Thomas Haberkorn, George R. Wilkens, Ryan N. Smith, Monique Chyba

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://eprints.qut.edu.au/40144/1/2011006957.pdf

zbMATH Keywords

singular trajectoriesdecoupling vector fields

Mathematics Subject Classification ID

Geometric methods (93B27) Control of mechanical systems (70Q05) Dynamics of a rigid body and of multibody systems (70E99)

Related Items (2)

Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping ⋮ Controlled Lagrangians and Stabilization of Euler--Poincaré Mechanical Systems with Broken Symmetry I: Kinetic Shaping

Cites Work

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• Stability of a bottom-heavy underwater vehicle
• Singular trajectories in multi-input time-optimal problems: Application to controlled mechanical systems
• Trajectory design for mechanical control systems: from geometry to algorithms
• Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
• Autonomous Underwater Vehicles: Singular Extremals and Chattering
• A Generalized Legendre-Clebsch Condition for the Singular Cases of Optimal Control

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