Adaptive control of an autonomous underwater vehicle: experimental results on ODIN
Adaptive control of an autonomous underwater vehicle: experimental results on ODIN
复制标题
DOI：
10.1109/cira.1999.809948
复制
发表时间：
1999-11
期刊：
影响因子：
--
通讯作者：
G. Antonelli;S. Chiaverini;N. Sarkar;M. West
中科院分区：
文献类型：
--
作者：
G. Antonelli;S. Chiaverini;N. Sarkar;M. West
提出了一种用于水下机器人的六自由度自适应控制器。所提出的控制律采用四元数来表示姿态误差，从而避免了使用欧拉角描述方位时出现的表示奇异性。该自适应控制器已在ODIN（全方位智能导航仪）上实现并进行了实验验证，ODIN是一款由夏威夷大学设计和制造的AUV。
This paper presents a six degree-of-freedom adaptive controller for autonomous underwater vehicles (AUVs). The proposed control law adopts quaternions to represent attitude errors and thus avoids representation singularities that occur when using Euler angle description of orientation. The adaptive controller has been implemented and experimentally validated on ODIN (Omni-Directional Intelligent Navigator)-an AUV that has been designed and built at the University of Hawaii.