In the present paper, a geometric-differential approach is employed to analyze the properties of a nonlinear model for the dynamics of Unmanned Underwater Vehicles. In particular, local accessibility, observability and feedback linearizability are investigated. The system is shown to be linearizable and a controller based on linearizing feedback and optimal control techniques is designed. Control performances and robustness properties of the control scheme are investigated by means of suitable simulations and discussed
Analysis of an underwater vehicle’s model for linearization and control purpose / Conte, Giuseppe; Zanoli, Silvia Maria; Boldreghini, F.. - (1997), pp. 313-318. (Intervento presentato al convegno 5th IFAC Symposium on Robot Control 1997 (SYROCO 97) tenutosi a Nantes, France nel 3-5 September, 1997).
Analysis of an underwater vehicle’s model for linearization and control purpose
CONTE, GIUSEPPE;ZANOLI, Silvia Maria;
1997-01-01
Abstract
In the present paper, a geometric-differential approach is employed to analyze the properties of a nonlinear model for the dynamics of Unmanned Underwater Vehicles. In particular, local accessibility, observability and feedback linearizability are investigated. The system is shown to be linearizable and a controller based on linearizing feedback and optimal control techniques is designed. Control performances and robustness properties of the control scheme are investigated by means of suitable simulations and discussedI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
