POSITION AND ATTITUDE TRACKING OF AUVS - A QUATERNION FEEDBACK APPROACH

被引：127

作者：

FJELLSTAD, OE

FOSSEN, TI

机构：

[1] The University of Trondheim, The Norwegian Institute of Technology, Department of Engineering Cybernetics

来源：

IEEE JOURNAL OF OCEANIC ENGINEERING | 1994年 / 19卷 / 04期

关键词：

D O I：

10.1109/48.338387

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

A position and attitude tracking control law for autonomous underwater vehicles (AUV's) in 6 degrees of freedom (DOF) is derived. The 4-parameter unit quaternion (Euler parameters) is used in a singularity-free representation of attitude. Global convergence of the closed-loop system is proven. In addition, several 3-parameter representations in terms of the Euler parameters are discussed with application to the same control law. These schemes contain singularities, and only local convergence can therefore be proven. The proposed control scheme is simulated with Euler parameters and Euler angles.

引用

页码：512 / 518

页数：7

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