Three-dimensional trajectory tracking control of under-actuated underwater rescue robots based on unit-quaternions
LIU Kaiyue
CUI Yuchen
WANG Rui
Abstract：In order to avoid singularities and improve computational efficiency of the system,unit-quaternions are used to represent the attitude of the under-actuated underwater rescue robot(URR),by which a unit-qua-ternion based URR model is proposed.To deal with under-actuation of the system,the system is separated into two subsystems:an under-actuated position subsystem and a fully-actuated attitude subsystem.An intermediary control input for the position subsystem is introduced to track a desired three dimensional refer-ence trajectory,besides the actual control thrust and the desired orientations for attitude tracking of the attitude subsystem is extracted,with which a control torque is designed for the attitude subsystem.The global asymptot-ical stability of the closed-loop system is proved using Lyapunov theory,and simulation results show that the proposed method realizes the URR tracking a given three dimensional reference trajectory effectively.
Keywords：URRunder-actuated systemsunit-quaternionstrajectory tracking control
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 38-44 )