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Keywords: feedback linearization
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Proceedings Papers

Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A009, October 8–11, 2019
Paper No: DSCC2019-9154
... of the UUV as well as its operating conditions such as the depth and expected travel speed. Instead of designing a controller for the state space system, we used feedback linearization technique to decouple the motions. Then, a set of controllers were designed for each motion. To incorporate the constraints...