The kinematics and dynamics of underactuated marine vehicles must be taken into account during control design, significantly more so than when developing controllers for fully-actuated vehicles. Here, we first present some of the specialized terminology used to define the main features of underactuated systems, the types of constraints (e.g. velocity and acceleration constraints) that make a vehicle underactuated, and the dynamics of underactuated marine vehicles. Then techniques for the stabilization, path following control and trajectory tracking control of nonholonomic surface vessels are introduced.
Control of Underactuated Marine Vehicles
Springer Ser.Naval Architect., Marine Engineer., Shipbuilding, Shipping
2021-06-22
56 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Trajectory-tracking Control of Underactuated Underwater Vehicles
Springer Verlag | 2009
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