基于四元数的全驱动碟形AUV单矢量反馈控制
许一航
1
, 刘剑
1
, 孙长银
1
,
2
Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV
Yihang XU
1
, Jian LIU
1
, Changyin SUN
1
,
2
图1.
碟形AUV推进器布局
.