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Stability of the scalar potential and symmetry breaking in

✍ Scribed by Yithsbey Giraldo; William A. Ponce; Luis A. Sánchez


Book ID
111624900
Publisher
Springer-Verlag
Year
2009
Tongue
English
Weight
453 KB
Volume
63
Category
Article
ISSN
1434-6044

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We show how to stabilize, in stages, arbitrary steady translations of an underwater vehicle with feedback that derives from a potential and deliberately breaks symmetry in the dynamics. First, rotational symmetry is broken to ensure stability in the momentum parameters. Then, translational symmetry