Global attitude/position regulation for underwater vehicles
نویسندگان
چکیده
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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ورودعنوان ژورنال:
- Int. J. Systems Science
دوره 30 شماره
صفحات -
تاریخ انتشار 1999