The problem of tracking the position and the attitude of an underwater vehicle without using direct velocity feedback is addressed. To this purpose, a controller-observer scheme is devised and exponential convergence of tracking and estimation errors is proven via a Lyapunov argument. Noticeably, in order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. A simulation case study is carried out to show the effectiveness of the proposed control algorithm
Output feedback algorithm for position and attitude tracking control of underwater vehicles
CACCAVALE, Fabrizio;
1998-01-01
Abstract
The problem of tracking the position and the attitude of an underwater vehicle without using direct velocity feedback is addressed. To this purpose, a controller-observer scheme is devised and exponential convergence of tracking and estimation errors is proven via a Lyapunov argument. Noticeably, in order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. A simulation case study is carried out to show the effectiveness of the proposed control algorithmFile in questo prodotto:
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