论文信息 - Quaternion feedback regulation of underwater vehicles

Quaternion feedback regulation of underwater vehicles

Position and attitude set-point regulation of autonomous underwater vehicles in 6 degrees of freedom is discussed. Euler parameters are used in the representation of global attitude. A class of nonlinear PD-control laws is derived by using a general Lyapunov function for the 6 degrees of freedom dynamic model of the vehicle.<<ETX>>

O.-E. Fjellstad | T. I. Fossen | T. Fossen | O. Fjellstad

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