January 1, 1999

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

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Abstract

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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Cite This Study

Pettersen et al. (Fri,) studied this question.

synapsesocial.com/papers/6a10145ffa36b6e053fd36d7 https://doi.org/https://doi.org/10.1109/9.739086

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