Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

DOI10.1016/S0167-6911(01)00176-1zbMath0987.93066MaRDI QIDQ5958486

D. Chhabra, Alessandro Astolfi, Romeo S. Ortega

Publication date: 3 March 2002

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

relative equilibria; stabilization; nonlinear systems; mechanical systems; passivity; interconnection; damping assignment; Kirchoff's equations; underactuated rigid body; underwater vehicle

Mathematics Subject Classification ID

93D15: Stabilization of systems by feedback

93C10: Nonlinear systems in control theory

93C85: Automated systems (robots, etc.) in control theory

70Q05: Control of mechanical systems

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