Position and Attitude Tracking of AUVs : A Quaternion Feedback
نویسنده
چکیده
A position and attitude tracking control law for autonomous underwater vehicles (AUVs) in 6 degrees of freedom (DOF) is derived. The 4-parameter unit quaternion (Euler parameters) is used in a singularity-free representation of attitude. Global convergence of the closed-loop system is proven. In addition several 3-parameter representations in terms of the Euler parameters are discussed with application to the same control law. These schemes contain singularities and only local convergence can therefore be proven. The proposed control scheme is simulated with Euler parameters and Euler angles.
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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