TCCT - Stabilization of an underactuated AUV with physical damping on SE(3) via SIDA method

2016 35th Chinese Control Conference (CCC)

Author(s): Niu Hongjiao ; Geng Zhiyong
Publisher: TCCT
Publication Date: 1 July 2016
Conference Location: Chengdu, China
Conference Date: 27 July 2016
Page(s): 873 - 878
ISBN (Electronic): 978-9-8815-6391-0
ISSN (Electronic): 1934-1768
DOI: 10.1109/ChiCC.2016.7553196

This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) that has three independent inputs: surge moment, yaw moment and pitch moment... View More