摘要：Abstract: This paper deals with attitude and position tracking of rigid bodies immersed in a fluid (generally water) and proposes a control law to achieve the same. Underwater dynamics of rigid bodies are modelled using the ‘Kirchhoff Tensor’, assuming the fluid to be irrotational, inviscid and incompressible. Specifically we consider the case of asymmetrical rigid bodies, where the dynamics of the rotational and translational motions are coupled with each other. The proposed control law is proven to asymptotically converge to the desired trajectory by analytical methods as well as in simulations.
