In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies
moving in a fluid or underwater manipulators has been studied in literature by, among …

It is well known that the linear feedback of the quaternion of the attitude error and the
angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the …

The main contributions of this thesis is based on a new control problem statement called The
Maneuvering Problem. This involves a desired path for the output of the system to follow and …

An articulated intervention autonomous underwater vehicle (AIAUV) is a slender, multi-
articulated underwater robot. Accurate trajectory tracking is essential for AIAUV operations …

This paper proposes an approach to the design of control laws for underwater vehicles that
takes into account the hydrodynamic effects affecting the tracking performance. To this aim …

This thesis is concerned with two interconnected and very important problems regarding the
autonomy of vehicles, namely, path planning and guidance. By adopting a modular …

This paper proposes a new control scheme for underwater vehicles. These systems are
highly nonlinear and they often operate in a varying environment. A robust controller is …

The unit quaternion is a pervasive representation of rigid-body attitude used for the design
and analysis of feedback control laws. Often, quaternion-based feedbacks require an …

In this paper, we propose two hybrid feedbacks based on “synergistic” potential functions to
achieve robust global asymptotic tracking of rigid-body attitude, a task that is impossible by …

The unit quaternion is a pervasive representation of rigid-body attitude used for the design
and analysis of feedback control laws. Because the space of unit quaternions constitutes a …