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- W1566978433 abstract "A time varying stabilizing feedback controller is constructed for an autonomous underwater vehicle by employing a Lie bracket extension of the original system. The synthesis method is general, in that it applies to a large class of drift free, completely controllable systems, for which the associated controllability Lie algebra is finite dimensional. The approach does not rely on any specific choice of a Lyapunov function. The resulting feedback law is a composition of a standard stabilizing feedback control for the extended system and a periodic continuation of a parametrised solution to an open loop, finite horizon control problem stated in logarithmic coordinates." @default.
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- W1566978433 date "2002-12-24" @default.
- W1566978433 modified "2023-09-24" @default.
- W1566978433 title "Stabilizing feedback control for a nonholonomic underwater vehicle" @default.
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- W1566978433 doi "https://doi.org/10.1109/cdc.1996.574606" @default.
- W1566978433 hasPublicationYear "2002" @default.
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