Ky. Pettersen et O. Egeland, Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle, IEEE AUTO C, 44(1), 1999, pp. 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 stabilizatio
n of a spacecraft can be applied to exponentially stabilize both the positi
on and attitude of an AUV using only four, possibly three, actuators. Simul
ation results are presented.