Control Problems of Hydrodynamic Type

Simple item page
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorManikonda, Vikramen_US
dc.contributor.departmentISRen_US
dc.contributor.departmentCDCSSen_US
dc.date.accessioned2007-05-23T10:06:49Z
dc.date.available2007-05-23T10:06:49Z
dc.date.issued1998en_US
dc.description.abstractIt has been known for some time that the classical work of Kirchhoff, Love,and Birkhoff on rigid bodies in incompressible, irrotational flows provideseffective models for treating control problems for underwater vehicles.This has also led to a better appreciation of the dynamics of suchsystems. In this paper, we develop results based on geometric mechanics andcenter manifold theory to solve controllability and stabilization questionsfor a class of under-actuated left invariant mechanical systems on Liegroups that include approximate models of underwater vehicles and surfacevehicles. We also provide numerical evidence to capture the globalproperties of certain interesting feedback laws.<p><I>(This work appears as an invited paper in the Proc. IFAC Sympo. on NonlinearControl Systems Design (NOLCOS'98), (1998), 1:139-144) </I>en_US
dc.format.extent539050 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/6001
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1998-43en_US
dc.relation.ispartofseriesCDCSS; TR 1998-11en_US
dc.subjectgeometric controlen_US
dc.subjectkinematicsen_US
dc.subjectlinear systemsen_US
dc.subjectnonlinear systemsen_US
dc.subjectroboticsen_US
dc.subjectstabilityen_US
dc.subjectsymmetryen_US
dc.subjectLie-Poisson reductionen_US
dc.subjectunderactuated systemsen_US
dc.subjectcontrollabilityen_US
dc.subjectstabilizationen_US
dc.subjecthovercraften_US
dc.subjectunderwater vehiclesen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleControl Problems of Hydrodynamic Typeen_US
dc.typeTechnical Reporten_US

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
TR_98-43.pdf
Size:
526.42 KB
Format:
Adobe Portable Document Format
Download

Collections

Institute for Systems Research Technical Reports