Abstract
In the present paper, a geometric-differential approach is employed to analyze the properties of a nonlinear model for the dynamics of Unmanned Underwater Vehicles. In particular, local accessibility, observability and feedback linearizability are investigated. The system is shown to be linearizable and a controller based on linearizing feedback and optimal control techniques is designed. Control performances and robustness properties of the control scheme are investigated by means of suitable simulations and discussed.
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