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Control Problems of Hydrodynamic Type
| 题名： | Control Problems of Hydrodynamic Type |
| 作者： | Manikonda, Vikram;Krishnaprasad, P. S.; |
| 关键词： | STABILIZATION, CONTROL SYSTEMS, UNDERWATER VEHICLES, HYDRODYNAMICS, LIE GROUPS, MECHANICAL COMPONENTS, NONLINEAR SYSTEMS, MATHEMATICAL MODELS, INCOMPRESSIBLE FLOW, HAMILTONIAN FUNCTIONS, CLOSED LOOP SYSTEMS, FEEDBACK, SYMMETRY, GROUND VEHICLES, VECTOR SPACES, INVISCID FLOW. |
| 摘要： | 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. |
| 总页数： | 8 |
| 报告类型： | 科技报告 |
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