Application of the Maggi Equations to Mathematical Modeling of a Robotic Underwater Vehicle as an Object with Superimposed Non-Holonomic Constraints Treated as Control Laws

Edyta Ładyżyńska-Kozdraś

Abstract

Based on torpedoes, a universal mathematical model of a robotic underwater vehicle comprising coupling dynamics of a controlled object with superimposed guidance has been built. Using control laws as kinematic correlation of deviation from pre-defined parameters of ideal control, the control laws have been tied to the dynamic equations of motion.
Author Edyta Ładyżyńska-Kozdraś IMiF
Edyta Ładyżyńska-Kozdraś,,
- The Institute of Micromechanics and Photonics
Journal seriesSolid State Phenomena, ISSN 1012-0394
Issue year2011
Vol180
Pages152-159
ConferenceMechatronics Systems, Mechanics and Materials, 12-10-2011 - 13-10-2011, Jastrzębia Góra, Polska
Keywords in Englishunderwater vehicle, non-holonomic constraints, Maggi equations, mathematical model
DOIDOI:10.4028/www.scientific.net/SSP.180.152
URL http://www.scientific.net/SSP.180.152
Languageen angielski
Score (nominal)10
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