Title :
Quaternion feedback regulation of underwater vehicles
Author :
Fjellstad, Ola-Erik ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Trondheim Univ., Norway
Abstract :
Position and attitude set-point regulation of autonomous underwater vehicles in 6 degrees of freedom is discussed. Euler parameters are used in the representation of global attitude. A class of nonlinear PD-control laws is derived by using a general Lyapunov function for the 6 degrees of freedom dynamic model of the vehicle
Keywords :
Lyapunov methods; attitude control; feedback; marine systems; nonlinear control systems; position control; two-term control; Lyapunov function; attitude set-point control; autonomous underwater vehicles; dynamic model; global attitude; nonlinear PD-control; position control; quaternion feedback regulation; Lyapunov methods; Nonlinear systems; Output feedback; Position control; Proportional control; Underwater vehicle control;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381209
