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.
Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle
IEEE Transactions on Automatic Control ; 44 , 1 ; 112-115
1999
4 Seiten, 13 Quellen
Article (Journal)
English
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