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

@article{Pettersen1999TimevaryingES,
  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.},
  year={1999},
  volume={44},
  pages={112-115}
}
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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