Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles

IEEE Transactions on Robotics

Volumn 23, Issue 6, 2007, Pages 1184-1199

  Morgansen, Kristi A ^a   Triplett, Benjamin I ^a   Klein, Daniel J ^a  

^a UNIVERSITY OF WASHINGTON   (United States)

Author keywords

Biorobotics; Locomotion; Nonlinear systems; Periodic control; Underwater vehicle control; Underwater vehicles

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; GEOMETRY; NONLINEAR CONTROL SYSTEMS; ROBOTICS; STATE FEEDBACK; TIME VARYING SYSTEMS;

CONTROL-AFFINE STRUCTURE; FREE-SWIMMING FIN-ACTUATED UNDERWATER VEHICLES; STATE ERROR FEEDBACK;

SUBMARINES;

EID: 37549066679     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/LED.2007.911625     Document Type: Article

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