Singularity-Free Tracking of UnmannedUnderwater Vehicles in 6 DOF

  title={Singularity-Free Tracking of UnmannedUnderwater Vehicles in 6 DOF},
  author={Ola-Erik and FjellstadDr},
  • Ola-Erik, FjellstadDr
  • Published 1994
Nonlinear tracking control of unmanned underwater vehicles (UUVs) in 6 degrees of freedom (DOF) is discussed. The 4-parameter unit quaternion is used in a singularity-free representation of attitude. Several control laws based on a generalized Lyapunov function for the attitude dynamics are derived, including feedback from the vector quaternion, the Euler rotation vector and the Rodrigues parameter vector. A new feedback gain matrix for translational motion is also proposed. Lyapunov analysis… CONTINUE READING
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