O. Egeland et al., FEEDBACK-CONTROL OF A NONHOLONOMIC UNDERWATER VEHICLE WITH A CONSTANTDESIRED CONFIGURATION, The International journal of robotics research, 15(1), 1996, pp. 24-35
Citations number
20
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control
In this article we present a feedback control law that gives exponenti
al convergence of a nonholonomic underwater vehicle to a constant desi
red configuration. This is achieved using a piecewise smooth feedback
control law that is based on previous work on the control of nonholono
mic mobile robots in the plane. The kinematic model of the underwater
vehicle is given in SE(3) by homogeneous transformation matrices, and
attitude deviations are given by Euler parameters. This gives a global
description without singularities. It is also shown how controllabili
ty of the nonholonomic underwater vehicle can be analyzed in SE(3) wit
hout the use of local charts. The inputs of the system are the three a
ngular velocity components and the forward velocity.