Robust attitude stabilization of an underactuated AUV

ECC 1997 - European Control Conference

Volumn , Issue , 1997, Pages 1398-1402

  Pettersen, K Y ^a   Egeland, O ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

Feedback stabilization; Nonlinear control; Underactuated systems

Indexed keywords

ACTUATORS; CONTROL THEORY; STABILIZATION; SYSTEM STABILITY;

ACTUATOR FAILURES; ATTITUDE STABILIZATION; CONTROL TORQUE; CONTROLLED SYSTEM; FEEDBACK STABILIZATION; MODEL PARAMETERS; NON LINEAR CONTROL; UNDER-ACTUATED SYSTEMS;

FEEDBACK;

EID: 84949089763     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.1997.7082296     Document Type: Conference Paper

References (9)

1. C. I. Byrnes and A. Isidori. On the attitude stabilization of rigid spacecraft. Automatica, 27:87-95, 1991.
2. T. I. Fossen. Guidance and Control of Ocean Vehicles. John Wiley & Sons Ltd., Chichester, 1994.
3. N. E. Leonard. Control synthesis and adaptation for an underactuated autonomous underwater vehicle. IEEE J. of Oceanic Eng., 20(3):211-220, July 1995.
4. N. E. Leonard. Periodic forcing, dynamics and control of underactuated spacecraft and underwater vehicles. In Proc. 34th IEEE Conf. on Decision and Control, pages 3980-3985, New Orleans, LA, Dec. 1995.
5. R. T. M'Closkey and R. M. Murray. Nonholonomic systems and exponential convergence: some analysis tools. In Proc. 32nd IEEE Conf. on Decision and Control, pages 943-948, San Antonio, Texas, December 1993.
6. P. Morin and C. Samson. Time-varying exponential stabilization of the attitude of a rigid spacecraft with two controls. In Proc. 34th IEEE Conf. on Decision and Control, pages 3988-3993, New Orleans, LA, Dec. 1995.
7. K. Y. Pettersen and O. Egeland. Exponential stabilization of an underactuated surface vessel. In Proc. 35th IEEE Conf. on Decision and Control, Kobe, Japan, Dec. 1996.
8. K. Y. Pettersen. Exponential Stabilization of Underactuated Vehicles. PhD thesis, Norwegian University of Science and Technology, 1996.
9. J. B. Pomet and C. Samson. Time-varying exponential stabilization of nonholonomic systems in power form. Technical Report 2126, INRIA, Dec. 1993.