Global Tracking Control of Underactuated ODINs in Three Dimensional Space

Global Tracking Control of Underactuated ODINs in Three Dimensional Space

This article presents a method to design controllers that force an underactuated omni-directional intelligent navigator (ODIN), a spherical underwater vehicle, to track a reference trajectory in three-dimensional space. The vehicle under consideration has only four thrusters but six degrees of freed...

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Bibliographic Details
Main Author: Do, Khac Duc
Format: Journal Article
Published: Taylor & Francis 2013
Subjects:
lyapunov's direct method
underactuated ODIN
one-step ahead backstepping method
global tracking
Online Access:http://hdl.handle.net/20.500.11937/31965

Internet

http://hdl.handle.net/20.500.11937/31965

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