Title :
Position and attitude tracking of AUV´s: a quaternion feedback approach
Author :
Fjellstad, Ola-Erik ; Fossen, Thor I.
Author_Institution :
Div. of Eng. Cybern., Inst. of Technol., Trondheim, Norway
fDate :
10/1/1994 12:00:00 AM
Abstract :
A position and attitude tracking control law for autonomous underwater vehicles (AUV´s) 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
Keywords :
attitude control; closed loop systems; digital simulation; marine systems; position control; 3-parameter representation; AUV; Euler angles; Euler parameters; attitude tracking; autonomous underwater vehicles; closed-loop system; global convergence; hydrodynamic damping; local convergence; position control; quaternion feedback; simulation; singularities; singularity-free representation; Attitude control; Equations; Feedback; Motion control; Orbital robotics; Quaternions; Space vehicles; Underwater tracking; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Oceanic Engineering, IEEE Journal of
