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2002•Unpublished venueRequires access

Control properties of underactuated vehicles

K.Y. Wichlund, Ole Jakob Sørdalen, Olav Egeland

Open publisher page 94 citations

Abstract

This paper studies control properties of the dynamics of underactuated vehicles (e.g. underactuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and sufficient conditions for these constraints to be second-order nonholonomic, first-order nonholonomic or holonomic are developed. It is shown that underactuated vehicles with a gravitational field where the elements corresponding to the unactuated dynamics are zero, are not C/sup 1/ asymptotically stabilizable to a single equilibrium.

About this research paper

What this paper is about

This paper studies control properties of the dynamics of underactuated vehicles (e.g. underactuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and sufficient conditions for these constraints to be second-order nonholonomic, first-order nonholonomic or holonomic are developed. It is shown that underactuated vehicles with a gravitational field where the elements corresponding to the unactuated dynamics are zero, are not C/sup 1/ asymptotically stabilizable to a single equilibrium.

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OpenAlex reports 94 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

This paper studies control properties of the dynamics of underactuated vehicles (e.g. underactuated surface vessels, underwater vehicles, aeroplanes or spacecraft). The unactuated dynamics implies constraints on the accelerations. Both the necessary and sufficient conditions for these constraints to be second-order nonholonomic, first-order nonholonomic or holonomic are developed. It is shown that underactuated vehicles with a gravitational field where the elements corresponding to the unactuated dynamics are zero, are not C/sup 1/ asymptotically stabilizable to a single equilibrium.

Key concepts: Underactuation, Nonholonomic system, Holonomic, Control theory (sociology), Holonomic constraints, Vehicle dynamics, Spacecraft, Dynamics (music)

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