Control of Vehicles with Second-Order

@inproceedings{Wichlund1995ControlOV,
  title={Control of Vehicles with Second-Order},
  author={K. Y. Wichlund and O. J. S rdalen and Olav. Egeland},
  year={1995}
}
This paper studies control properties of the dynamics of underactuated vehicles (e.g. un-deractuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and suucient conditions for these constraints to be second-order nonholonomic, rst-order nonholonomic or holonomic are developed. It is shown that underactuated vehicles with a gravitational eld where the elements corresponding to the unactuated… CONTINUE READING
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