一般欠驱动六自由度无人水面艇的平坦性
Flatness of the Generic Under-Actuated 6-Degrees-of-Freedom Unmanned Surface Vessel
- University of Colorado, Boulder（科罗拉多大学博尔德分校）
- Australian National University（澳大利亚国立大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对一般欠驱动六自由度无人水面艇，利用李对称性构造动态反馈线性化与显式平坦输出，解决其平坦性开放问题，补偿器阶数为6。
AI中文摘要：
具有圆形船体形状的欠驱动无人水面艇（“气垫船”）的平坦性早已为人所知。我们解决了长期悬而未决的问题：一般的欠驱动六自由度（dof）无人水面艇（gUSV）是否允许反馈线性化。利用gUSV的李对称性，对所有流体动力参数值构造了动态反馈线性化、显式平坦输出和平坦参数化。在这种一般情形下，动态补偿器的阶数为6，而气垫船的动态补偿器阶数为4。
英文摘要：
The flatness of the under-actuated unmanned surface vessel with circular hull-shape (``the hovercraft") has long been known. We resolve the long-standing open problem: whether the generic under-actuated 6-degrees-of-freedom (dof) unmanned surface vessel (gUSV) admits a feedback linearization. Lie symmetries of the gUSV are used to construct a dynamic feedback linearization, explicit flat outputs and flat parametrization, for all hydrodynamic parameter values. In this generic case the dynamic compensator has order 6, in contrast to the hovercraft vessel whose dynamic compensator has order 4.
