Title :
Singularity-free tracking of unmanned underwater vehicles in 6 DOF
Author :
Fjellstad, Ola-Erik ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
Abstract :
Nonlinear tracking control of unmanned underwater vehicles (UUVs) in 6 degrees of freedom (DOF) is discussed. The 4-parameter unit quaternion is used in a singularity-free representation of attitude. Several control laws based on a generalized Lyapunov function for the attitude dynamics are derived, including feedback from the vector quaternion, the Euler rotation vector and the Rodrigues parameter vector. A new feedback gain matrix for translational motion is also proposed. Lyapunov analysis is used in the tracking error convergence analysis. Extensions to adaptive control are made. The control laws are tested in a simulation study
Keywords :
Lyapunov methods; adaptive control; feedback; marine systems; mobile robots; nonlinear control systems; position control; robot kinematics; tracking; 4-parameter unit quaternion; Euler rotation vector; Lyapunov analysis; Rodrigues parameter vector; adaptive control; attitude dynamics; feedback gain matrix; generalized Lyapunov function; nonlinear tracking control; singularity-free tracking; tracking error convergence analysis; translational motion; unmanned underwater vehicles; vector quaternion; Adaptive control; Attitude control; Convergence; Error analysis; Feedback; Lyapunov method; Quaternions; Underwater tracking; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411068
