Work

Flatness of the Generic Under-Actuated 6-Degrees-of-Freedom Unmanned Surface Vessel

Year: 2026

Type: preprint

Abstract: 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.

Source: arXiv (Cornell University)

DOI: 10.48550/arxiv.2609.05785

Authors: Klotz, Taylor J., Vassiliou, Peter J.

Institutions: University of Colorado Boulder, University of Colorado System, Australian National University

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W7212026117

Cites: 2

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Related to: 10