Title :
An exponentially convergent control law for a nonholonomic underwater vehicle
Author :
Sordalen, O.J. ; Dalsmo, M. ; Egeland, Olav
Author_Institution :
Dept. of Eng. Cybernetics, Norwegian Inst. of Technol., Trondheim, Norway
Abstract :
A feedback control law is developed for an underwater vehicle described by a nonholonomic kinematic model. The inputs of the system are the three angular velocity components and the forward velocity. The model is given in SE(3) by homogeneous transformation matrices and Euler parameters which give a global description without singularities. This model is shown to be controllable but not stabilizable by a smooth static state feedback law. A piecewise smooth feedback law which gives global exponential convergence of the vehicle to a given position and orientation is proposed
Keywords :
control system analysis; feedback; kinematics; marine systems; position control; Euler parameters; exponentially convergent control; feedback control; global exponential convergence; homogeneous transformation matrices; nonholonomic kinematic model; nonholonomic underwater vehicle; piecewise smooth feedback; static state feedback; Automotive engineering; Convergence; Cybernetics; Electronic mail; Feedback control; Kinematics; Marine vehicles; Matrix decomposition; State feedback; Underwater vehicles;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292241
