An underwater inertia-based propelled vehicle dynamics and performance

Abstract eng:
The paper addresses dynamics of variable mass or configuration mechanical systems subjected to holonomic or nonholonomic constraints, which are imposed due to systems desired performance, tracking specified motions or control needs. It presents an analytical dynamics modeling framework whose novelty is that nonholonomic constraints can be merged into variable mass system dynamics and final motion equations are free of the constraint reaction forces so they can be used directly to control design. Many engineering systems change their mass or configuration when they move, e.g. inertia-based propelled underwater vehicles or mobile robots and manipulators transporting loads. An underwater inertia-based propelled vehicle model dynamics and performance illustrate the theoretical development presented in the paper. The paper contribution is two folded. It presents a unified approach to constrained variable mass or configuration systems modeling and introduces analytical dynamics methods to nonlinear control for solving engineering problems.

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