Autonomous Underwater Vehicles —— Modeling, Control Design and Simulation

----- 自治水下机器人：建模、控制设计与仿真

ISBN: 9781439818312 出版年：2017 页码：168 Wadoo, Sabiha Kachroo, Pushkin CRC Press

Introduction Overview Examples of Underwater Vehicles Construction Vehicle Kinematics Fundamentals Lie Groups and Lie Algebras Problem Formulation and Examples Motion Planning of Nonholonomic Systems Nonholonomic Constraints Problem Description Control Model Formulation Controllability Issues Stabilization Examples of Nonholonomic Systems Mathematical Modeling and Controllability Analysis Mathematical Modeling Controllability Analysis Chained Forms Control Design Using the Kinematic Model Trajectory Tracking and Controller Design for the Chained Form Reference Trajectory Generation Control Using Approximate Linearization Control Using Exact Feedback Linearization via State and Input Transformations Point-to-Point Stabilization Control Design Using the Dynamic Model Dynamic Modeling Point-to-Point Stabilization Control Design Robust Feedback Control Design Robust Control Using the Kinematic Model Robust Control Using the Dynamic Model