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;
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 discussed
IFAC Symposia Series
0080430260
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/82893
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