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

  title={Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle},
  author={Kristin Ytterstad Pettersen and Olav Egeland},
  journal={IEEE Trans. Autom. Control.},
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. 

Figures from this paper

Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

Underactuated translational control of a rigid spacecraft

In this paper we consider a spacecraft with one main thruster for translational control and reaction wheels for full attitude control. This is an underactuated control problem, which in this paper is

Planar Tracking Control of an Underactuated Autonomous Underwater Vehicle

This paper addresses the problem of trajectory tracking control of an underactuated autonomous underwater vehicle (AUV) in the horizontal plane using backstepping techniques and the tracking error dynamics, and the system states are stabilized by forcing the tracking errors to an arbitrarily small neighborhood of zero.

Design of a Path Following Controller for an Underactuated AUV

This paper describes a tracking control strategy for an underactuated autonomous underwater vehicle (AUV) on a two dimensional plane ( ).Based on a smooth, inertial, 2D 2 ℜ reference trajectory

On a closed loop time invariant position control solution for an underactuated 3D underwater vehicle: implementation, stability and robustness considerations

Two discontinuous solutions for the kinematic position and attitude closed loop control problem of an underactuated floating body are considered. The first is derived on the basis of Lyapunov's


This paper tackles the combined problem of trajectory planning and tracking control of planar underactuated marine vehicles with different dynamic models. A reference feasible trajectory for the

Model Predictive Stabilization of Constrained Underactuated Autonomous Underwater Vehicles With Guaranteed Feasibility and Stability

This paper studies the model predictive stabilization problem of underactuated autonomous underwater vehicles (AUVs) with control input constraints, where the full dynamic and kinematic model

Three-dimensional tracking control of autonomous underwater vehicles with limited torque and without velocity sensors

This paper addresses the trajectory tracking control of the underactuated AUVs with the limited torque, without the velocity measurements and under environmental disturbances in a three-dimensional space by employing the saturation functions to bound the closed-loop error variables.

Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles

A three-dimensional stabilization problem for underactuated autonomous underwater vehicles (AUVs) is addressed in this paper. A novel coordinate transformation form consisting of state modifications



Time-varying exponential stabilization of the attitude of a rigid spacecraft with two controls

  • P. MorinC. Samson
  • Mathematics
    Proceedings of 1995 34th IEEE Conference on Decision and Control
  • 1995
Rigid body models with two controls cannot be locally asymptotically stabilized by continuous feedback which are functions of the state only. However, explicit smooth time-varying feedback which

Robust control of an underactuated surface vessel with thruster dynamics

  • K. PettersenO. Egeland
  • Mathematics, Engineering
    Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)
  • 1997
A continuous periodic time-varying feedback law is proposed that exponentially stabilizes both the position and orientation of a surface vessel having only two actuators. To this end, a stability

Nonlinear tracking control of autonomous underwater vehicles

Simulation results agreed with the theoretical predictions and confirmed the usefulness of the proposed scheme, which effectively makes use of the nonholonomic nature of the system.

Control synthesis and adaptation for an underactuated autonomous underwater vehicle

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for

Feedback Control of a Nonholonomic Underwater Vehicle With a Constant Desired Configuration

A Feedback control law is presented that gives exponential convergence of a nonholonomic underwater vehicle to a constant desired configuration using a piecewise smooth feedback control law that is based on previous work on the control of non holonomic mobile robots in the plane.

Exponential stabilization of an underactuated surface vessel

The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous nor discontinuous state feedback. Furthermore, stabilization of an underactuated

Periodic forcing, dynamics and control of underactuated spacecraft and underwater vehicles

This paper describes spacecraft and underwater vehicle dynamics with small-amplitude, periodically time-varying forcing and provides results that are useful in many practical problems in which the system cannot be modelled as purely kinematic, e.g., controlling underactuated spacecraft driven with gas jets and underwater vehicles at high Reynolds number.

Velocity and torque feedback control of a nonholonomic cart

Among other results, the existence of smooth feedback controls that stabilize the cart at a desired position and orientation is established and does not contradict earlier non-existence results.

Guidance and control of ocean vehicles

Modeling of Marine Vehicles. Environmental Disturbances. Stability and Control of Underwater Vehicles. Dynamics and Stability of Ships. Automatic Control of Ships. Control of High--Speed Craft.

Time-varying exponential stabilization of nonholonomic systems in power form

Systems in canonical power form have recently been used to model the kinematic equations of nonholonomic mechanical systems. McCloskey and Murray have had the idea of using the properties of