Control Problems of Hydrodynamic Type
Abstract
It has been known for some time that the classical work of Kirchhoff, Love, and Birkhoff on rigid bodies in incompressible, irrotational flows provides effective models for treating control problems for underwater vehicles. This also has lead to a better appreciation of the dynamics of such systems. In this paper, the authors develop results based on geometric mechanics and center manifold theory to solve controllability and stabilization questions for a class of under-actuated left invariant mechanical systems on Lie groups that include approximate models of underwater vehicles and surface vehicles. They also provide numerical evidence to capture the global properties of certain interesting feedback laws.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1998
- Accession Number
- ADA439834
Entities
People
- P.S.Krishnaprasad
- Vikram Manikonda
Organizations
- University of Maryland