Title :
Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle
Author :
Pettersen, K.Y. ; Egeland, O.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
The paper considers feedback stabilization of the position and attitude of an autonomous underwater vehicle (AUV) with a reduced number of actuators. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. The paper shows that previous results on attitude stabilization of a spacecraft can be applied to exponentially stabilize both the position and attitude of an AUV using only four, possibly three, actuators. Simulation results are presented.
Keywords :
asymptotic stability; attitude control; dynamics; feedback; kinematics; nonlinear systems; position control; time-varying systems; underwater vehicles; attitude control; autonomous underwater vehicle; dynamics; exponential stabilization; feedback; kinematics; nonlinear model; position control; time-varying systems; underactuation; Actuators; Attitude control; Feedback; Force control; Hydrodynamics; Kinematics; Space vehicles; Torque control; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Automatic Control, IEEE Transactions on
