Abstract
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.
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