A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle
This paper addresses the position tracking control design problem for an autonomous underwater vehicle (AUV). The vehicle dynamics is subjected to a non-holonomic velocity constraint arising due to fluid interactions, resulting in a differential- algebraic equation (DAE) formulation for the equation...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Estonian Academy Publishers
2020-06-01
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| Series: | Proceedings of the Estonian Academy of Sciences |
| Subjects: | |
| Online Access: | https://kirj.ee/public/proceedings_pdf/2020/issue_3/proc-2020-3-215-227.pdf |