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.


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    Title :

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


    Contributors:

    Published in:

    Publication date :

    1999


    Size :

    4 Seiten, 13 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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