{"title":"无人潜航器六自由度无奇点跟踪","authors":"O. Fjellstad, T. Fossen","doi":"10.1109/CDC.1994.411068","DOIUrl":null,"url":null,"abstract":"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 is used in the tracking error convergence analysis. Extensions to adaptive control are made. The control laws are tested in a simulation study.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"82 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"62","resultStr":"{\"title\":\"Singularity-free tracking of unmanned underwater vehicles in 6 DOF\",\"authors\":\"O. Fjellstad, T. Fossen\",\"doi\":\"10.1109/CDC.1994.411068\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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 is used in the tracking error convergence analysis. Extensions to adaptive control are made. The control laws are tested in a simulation study.<<ETX>>\",\"PeriodicalId\":355623,\"journal\":{\"name\":\"Proceedings of 1994 33rd IEEE Conference on Decision and Control\",\"volume\":\"82 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-12-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"62\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1994 33rd IEEE Conference on Decision and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.1994.411068\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1994.411068","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Singularity-free tracking of unmanned underwater vehicles in 6 DOF
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 is used in the tracking error convergence analysis. Extensions to adaptive control are made. The control laws are tested in a simulation study.<>
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
