A novel error function yields Hamiltonian error dynamics for energy-based tracking control of a fully coupled SE(3) underwater vehicle model, with asymptotic stability proved and validated in BlueROV2 simulation.
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Tracking Control for a Dynamic Model of an Underwater Submersible
A novel error function yields Hamiltonian error dynamics for energy-based tracking control of a fully coupled SE(3) underwater vehicle model, with asymptotic stability proved and validated in BlueROV2 simulation.