A First Extension of Geometric Control Theory to Underwater Vehicles ?

@inproceedings{Chyba2008AFE,
  title={A First Extension of Geometric Control Theory to Underwater Vehicles ?},
  author={M. Chyba and Ryan N. Smith},
  year={2008}
}
This paper serves as a first study on the implementation of control strategies developed using a kinematic reduction onto test bed autonomous underwater vehicles (AUVs). The equations of motion are presented in the framework of differential geometry, including external dissipative forces, as a forced affine connection control system. We show that the hydrodynamic drag forces can be included in the affine connection, resulting in an affine connection control system. The definitions of kinematic… CONTINUE READING
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