Global Tracking Control of Underactuated ODINs in Three Dimensional Space

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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

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