PreprintCC BY 4.0arXiv
Flatness of the Generic Under-Actuated 6-Degrees-of-Freedom Unmanned Surface Vessel
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.
Related
- Nonlinear Degrees of Freedom of Born-Infeld New Massive Gravity
- Is Dual Polarization Always Optimal? Unlocking New Spatial Degrees of Freedom
- Indistinguishability Theory for Identical Particles with Invariant Degrees of Freedom
- Exact Degrees of Freedom of Spatially Sparse MIMO Channels Without Prior CSI
- Replay in the Silent Degrees of Freedom: Continual Learning Without an Offline Phase
BibTeX
@misc{klotz2026flatness,
title = {{Flatness of the Generic Under-Actuated 6-Degrees-of-Freedom Unmanned Surface Vessel}},
author = {Taylor J. Klotz and Peter J. Vassiliou},
howpublished = {arXiv},
year = {2026},
month = sep,
doi = {10.48550/arxiv.2609.05785},
eprint = {2609.05785},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2609.05785},
note = {CC BY 4.0},
}
RIS
TY - UNPB
TI - Flatness of the Generic Under-Actuated 6-Degrees-of-Freedom Unmanned Surface Vessel
AU - Taylor J. Klotz
AU - Peter J. Vassiliou
PY - 2026
DA - 2026/09/05
PB - arXiv
DO - 10.48550/arxiv.2609.05785
UR - https://arxiv.org/abs/2609.05785
AB - 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.
ER -