Singularity-free Tracking of Unmanned Underwater Vehicles in 6 Dof Dr.ing Ee, M.sc Naval Architecture Assistant Professor Singularity-free Tracking of Unmanned Underwater Vehicles in 6 Dof
نویسنده
چکیده
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 parameter vector. A new feedback gain matrix for translational motion is also proposed. Lyapunov analysis is used in the tracking error convergence analysis. Extensions to adap-tive control are made. The control laws are tested in a simulation study.
منابع مشابه
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
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...
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