An output feedback algorithm for position and attitude tracking control of underwater vehicles

Author

Antonelli, Gianluca ; Caccavale, Fabrizio ; Chiaverini, Stefano ; Villani, Luigi

Author_Institution

Dipartimento di Inf. e Sistemistica, Naples Univ., Italy

Volume

4

fYear

1998

fDate

16-18 Dec 1998

Firstpage

4567

Abstract

The problem of tracking the position and the attitude of an underwater vehicle without using direct velocity feedback is addressed. To this purpose, a controller-observer scheme is devised and exponential convergence of tracking and estimation errors is proven via a Lyapunov argument. Noticeably, in order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. A simulation case study is carried out to show the effectiveness of the proposed control algorithm

Keywords

Lyapunov methods; attitude control; convergence; feedback; observers; position control; tracking; underwater vehicles; Lyapunov argument; attitude tracking control; controller-observer scheme; exponential convergence; output feedback algorithm; position tracking control; representation singularities; Acoustic measurements; Acoustic sensors; Attitude control; Convergence; Estimation error; Output feedback; Remotely operated vehicles; Underwater tracking; Underwater vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.762047

Filename

762047