Controlling a submerged rigid body : a geometric analysis

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.

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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.

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ID Code: 40144
Item Type: Journal Article
Refereed: Yes
Additional Information: Paper presented in "the 3rd IFAC Workshop"
Additional URLs:
Keywords: submerged rigid body, trajectory design
DOI: 10.1007/978-3-540-73890-9_30
ISBN: 978-3-540-73889-3
ISSN: 0170-8643
Subjects: Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > PURE MATHEMATICS (010100) > Algebraic and Differential Geometry (010102)
Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Calculus of Variations Systems Theory and Control Theory (010203)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2007 Springer
Copyright Statement:

This is the author-version of the work.

Conference proceedings published, by Springer Verlag, will be available via SpringerLink.

Deposited On: 24 Mar 2011 22:33
Last Modified: 19 Sep 2013 04:34

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