Affiliation:
1. Department of Engineering Cybernetics The Norwegian Institute of Technology N-7034 Trondheim, Norway
Abstract
In this article we present a feedback control law that gives exponential convergence of a nonholonomic underwater vehicle to a constant desired configuration. This is achieved using a piecewise smooth feedback control law that is based on previous work on the control of nonholonomic 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 controllability of the nonholonomic underwater vehicle can be analyzed in SE(3) without the use of local charts. The inputs of the system are the three angular velocity components and the forward velocity.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Reference20 articles.
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2. Exponential stabilization of mobile robots with nonholonomic constraints
3. Matrix Groups
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