Controlling a submerged rigid body : a geometric analysis
| Contribuinte(s) |
Bullo, Francesco Fujimoto, Kenji |
|---|---|
| Data(s) |
01/07/2007
|
| Resumo |
In this paper we analyze the equations of motion of a submerged rigid body. Our motivation is based on recent developments done in trajectory design for this problem. Our goal is to relate some properties of singular extremals to the existence of decoupling vector fields. The ideas displayed in this paper can be viewed as a starting point to a geometric formulation of the trajectory design problem for mechanical systems with potential and external forces. |
| Formato |
application/pdf |
| Identificador | |
| Publicador |
Springer Berlin/Heidelberg |
| Relação |
http://eprints.qut.edu.au/40144/1/2011006957.pdf DOI:10.1007/978-3-540-73890-9_30 Chyba, Monique, Haberkorn, Thomas, Smith, Ryan N., & Wilkens, George R. (2007) Controlling a submerged rigid body : a geometric analysis. Lecture Notes in Control and Information Sciences : Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, 366, pp. 375-385. |
| Direitos |
Copyright 2007 Springer This is the author-version of the work. Conference proceedings published, by Springer Verlag, will be available via SpringerLink. http://www.springerlink.com |
| Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
| Palavras-Chave | #010102 Algebraic and Differential Geometry #010203 Calculus of Variations Systems Theory and Control Theory #091103 Ocean Engineering #submerged rigid body #trajectory design |
| Tipo |
Journal Article |
