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

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.

• Periodical: Solid State Phenomena (Volume 180)
• Pages: 152-159
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.180.152
• Online since: November 2011
• Authors: Edyta Ladyżyńska-Kozdraś
• Keywords: Maggi Equations, Mathematical Models, Non-Holonomic Constraints, Underwater Vehicle

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