A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle

DOI10.3176/PROC.2020.3.05zbMath1467.93067OpenAlexW3048591508MaRDI QIDQ4988435

Ashutosh Simha, Yu. R. Kotta

Publication date: 14 May 2021

Published in: Proceedings of the Estonian Academy of Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3176/proc.2020.3.05

zbMATH Keywords

nonholonomic systemsgeometric controlunderwater robotics

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Cites Work

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