Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle

被引：142

作者：

Pettersen, KY ^{[1
]}

Egeland, O ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7034 Trondheim, Norway

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1999年 / 44卷 / 01期

关键词：

autonomous underwater vehicle; exponential stabilization; time-varying control; underactuation;

D O I：

10.1109/9.739086

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：112 / 115

页数：4

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