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In this paper, we consider the dynamic modeling and the practical implementation of an autonomous dynamic positioning scheme, i.e., the stabilization of linear and angular velocities as well as the position and orientation, of a floating sea triangular platform. The required, closed-loop force and moment must be provided by three rotating pump jets, located at the bottom of three partly submerged...
This paper considers the design of a novel closed- loop trajectory tracking controller for an underactuated robotic airship having 6 degrees of freedom (DOF) and 3 controls, on forward, yaw and pitch motions using two side thrusters. A backstepping methodology is adopted as a design tool, since it is suitable for the cascaded nature of the vehicle dynamics. It also offers design flexibility and robustness...
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