Quaternion feedback regulation of underwater vehicles
- 1 January 1994
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 857-862 vol.2
- https://doi.org/10.1109/cca.1994.381209
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
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