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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| Format: | Journal Article |
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Taylor & Francis
2013
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| Online Access: | http://hdl.handle.net/20.500.11937/31965 |
| _version_ | 1848753531047116800 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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 freedom to be controlled. Motivated by the vehicle's steering practice, the roll and pitch angles regarded as virtual controls plus four actual control forces provided by the thrusters are used to force the position and yaw angle of the vehicle to globally and asymptotically track their reference trajectories. The control design is based on the one-step ahead backstepping method and Lyapunov's direct method. A combination of Euler angles and unit-quaternion for the attitude representation of the vehicle is used to obtain global tracking control results. Simulations illustrate the results. |
| first_indexed | 2025-11-14T08:25:59Z |
| format | Journal Article |
| id | curtin-20.500.11937-31965 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:25:59Z |
| publishDate | 2013 |
| publisher | Taylor & Francis |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-319652017-09-13T15:16:37Z Global Tracking Control of Underactuated ODINs in Three Dimensional Space Do, Khac Duc lyapunov's direct method underactuated ODIN one-step ahead backstepping method global tracking 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 freedom to be controlled. Motivated by the vehicle's steering practice, the roll and pitch angles regarded as virtual controls plus four actual control forces provided by the thrusters are used to force the position and yaw angle of the vehicle to globally and asymptotically track their reference trajectories. The control design is based on the one-step ahead backstepping method and Lyapunov's direct method. A combination of Euler angles and unit-quaternion for the attitude representation of the vehicle is used to obtain global tracking control results. Simulations illustrate the results. 2013 Journal Article http://hdl.handle.net/20.500.11937/31965 10.1080/00207179.2012.721567 Taylor & Francis restricted |
| spellingShingle | lyapunov's direct method underactuated ODIN one-step ahead backstepping method global tracking Do, Khac Duc Global Tracking Control of Underactuated ODINs in Three Dimensional Space |
| title | Global Tracking Control of Underactuated ODINs in Three Dimensional Space |
| title_full | Global Tracking Control of Underactuated ODINs in Three Dimensional Space |
| title_fullStr | Global Tracking Control of Underactuated ODINs in Three Dimensional Space |
| title_full_unstemmed | Global Tracking Control of Underactuated ODINs in Three Dimensional Space |
| title_short | Global Tracking Control of Underactuated ODINs in Three Dimensional Space |
| title_sort | global tracking control of underactuated odins in three dimensional space |
| topic | lyapunov's direct method underactuated ODIN one-step ahead backstepping method global tracking |
| url | http://hdl.handle.net/20.500.11937/31965 |