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
AbstractBased 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.
|Journal series||Solid State Phenomena, ISSN 1012-0394|
|Conference||Mechatronics Systems, Mechanics and Materials, 12-10-2011 - 13-10-2011, Jastrzębia Góra, Polska|
|Keywords in English||underwater vehicle, non-holonomic constraints, Maggi equations, mathematical model|
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