Quaternion-based finite-time fault-tolerant trajectory tracking control for autonomous underwater vehicle without unwinding
Ziyang Huang, Ziyi Su, Bing Huang, Shuo Song, Jun Li
Topics & Concepts
Control theory (sociology)QuaternionEuler anglesActuatorTrajectoryLyapunov functionControllabilityKinematicsBacksteppingLyapunov stabilityEngineeringSingularityComputer scienceAdaptive controlMathematicsNonlinear systemControl (management)PhysicsMathematical analysisArtificial intelligenceApplied mathematicsQuantum mechanicsGeometryClassical mechanicsAstronomyAdaptive Control of Nonlinear SystemsUnderwater Vehicles and Communication SystemsControl and Stability of Dynamical Systems