Quaternion Feedback Regulation of Underwater Vehicles Dr.ing. Ee Seatex as Trondheim Norway Dr.ing Ee, M.sc Naval Architecture Assistant Professor Quaternion Feedback Regulation of Underwater Vehicles
نویسنده
چکیده
Position and attitude set-point regulation of autonomous underwater vehicles (AUVs) in 6 degrees of freedom (DOF) is presented. Euler parameters are used in the representation of global attitude. Three quaternion feedback controllers are derived based on vector quaternion, Euler rotation and Rodrigues parameter feedback, respectively. Global asymp-totic stability is proven in the rst and second case, while Ro-drigues parameter feedback yields asymptotic stability.
منابع مشابه
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Nonlinear tracking control of unmanned underwater vehicles (UUVs) in 6 degrees of freedom (DOF) is discussed. The 4-parameter unit quaternion is used in a singularity-free representation of attitude. Several control laws based on a generalized Lyapunov function for the attitude dynamics are derived, including feedback from the vector quaternion, the Euler rotation vector and the Rodrigues param...
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