Stabilization of underwater vehicle dynamics with symmetry-breaking potentials

DOI10.1016/S0167-6911(97)00051-0zbMath0901.93057MaRDI QIDQ1390845

Naomi Ehrich Leonard

Publication date: 22 July 1998

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

zbMATH Keywords

stabilizationHamiltonianKirchhoff equationssymmetry breakingunderwater vehiclepotentialsenergy-Casimir

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85)

Related Items

Stability of a bottom-heavy underwater vehicle, Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping, Stabilization of coordinated motion for underwater vehicles, Almost global attitude stabilization of a rigid body for both internal and external actuation schemes, Controlled Lagrangians and Stabilization of Euler--Poincaré Mechanical Systems with Broken Symmetry I: Kinetic Shaping, Symmetric Reduction and Hamilton-Jacobi Equations of the Controlled Underwater Vehicle-Rotor System, Stability and drift of underwater vehicle dynamics: mechanical systems with rigid motion symmetry, Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems, Stabilization of relative equilibria for underactuated systems on Riemannian manifolds, Symmetry and reduction for coordinated rigid bodies, Autonomous rigid body attitude synchronization, Stabilizing underwater vehicle motion using internal rotors

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