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. In Bullo, Francesco & Fujimoto, Kenji (Eds.) Lagrangian and Hamiltonian Methods for Nonlinear Control 2006; Proceedings from the 3rd IFAC Workshop, Springer Berlin/Heidelberg, Nagoya, Japan, pp. 375-385.
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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|Item Type:||Conference Paper|
|Keywords:||submerged rigid body, trajectory design|
|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. http://www.springerlink.com|
|Deposited On:||25 Mar 2011 08:33|
|Last Modified:||21 Nov 2011 09:36|
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