Name
Title | ||
|---|---|---|
Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle. |
Abstract | ||
|---|---|---|
The paper considers feedback stabilization of the position and attitude of an autonomousunderwater vehicle (AUV) with a reduced number of actuators. A nonlinearmodel describing both the dynamics and the kinematics of an AUV is studied. The papershows that previous results on attitude stabilization of a spacecraft can be applied to exponentiallystabilize both the position and attitude of an AUV using only four, possiblythree, actuators. Simulation results are presented.1 IntroductionThe... |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/9.739086 | IEEE Trans. Automat. Contr. |
Keywords | Field | DocType |
Feedback,Force control,Torque control,Actuators,Underwater vehicles,Vehicle dynamics,Kinematics,Attitude control,Hydrodynamics,Space vehicles | Nonlinear system,Kinematics,Control theory,Control engineering,Attitude control,Exponential stability,Artificial intelligence,Control system,Underactuation,Robotics,Mathematics,Spacecraft | Journal |
Volume | Issue | ISSN |
44 | 1 | 0018-9286 |
Citations | PageRank | References |
41 | 6.71 | 3 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| K. Y. Pettersen | 1 | 171 | 15.33 |
| O. Egeland | 2 | 133 | 31.24 |