文章基本信息

标题：Attitude & Position Tracking of a Underwater Rigid Body
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作者：Arun Kumar S ; Arun Kumar S ; Rakesh R. Warier 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：606-611
DOI：10.1016/j.ifacol.2016.10.232
语种：English
出版社：Elsevier
摘要：Abstract: This paper deals with attitude and position tracking of rigid bodies immersed in a fluid (generally water) and proposes a control law to achieve the same. Underwater dynamics of rigid bodies are modelled using the ‘Kirchhoff Tensor’, assuming the fluid to be irrotational, inviscid and incompressible. Specifically we consider the case of asymmetrical rigid bodies, where the dynamics of the rotational and translational motions are coupled with each other. The proposed control law is proven to asymptotically converge to the desired trajectory by analytical methods as well as in simulations.
关键词：KeywordsUnderwater Rigid-Body Tracking Attitude