Controllability Analysis of a Quadrotor-like Autonomous Underwater Vehicle

摘要

A quadrotor-like autonomous underwater vehicle (QLAUV) that is similar with but rather different from quadrotor unmanned aerial vehicles has been reported recently. This paper addresses the local controllability problem of QLAUV, which is base and premise for further localization and navigation studies. By using geometric control theory, the accessibility property of the QLAUV has been firstly analyzed. Then, a nonlinear controllability, the so-called small-time locally controllability (STLC) has been analyzed for the horizontal plane motion, including kinematics and dynamics. Finally, we investigate the conditions that the STLC should be satisfied.