Controlling a submerged rigid body: A geometric analysis

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Abstract

In this paper we analyze the equations of motion of a submerged rigid body. Our motivation is based on recent developments done in trajectory design for this problem. Our goal is to relate some properties of singular extremals to the existence of decoupling vector fields. The ideas displayed in this paper can be viewed as a starting point to a geometric formulation of the trajectory design problem for mechanical systems with potential and external forces. © Springer-Verlag Berlin Heidelberg 2007.

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Chyba, M., Haberkorn, T., Smith, R. N., & Wilkens, G. R. (2007). Controlling a submerged rigid body: A geometric analysis. In Lecture Notes in Control and Information Sciences (Vol. 366 LNCIS, pp. 375–385). Springer Verlag. https://doi.org/10.1007/978-3-540-73890-9_30

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