@article{Antonelli1998b,
  author = {Antonelli, Gianluca and Caccavale, Fabrizio and Chiaverini, Stefano and Villani, Luigi},
  title = {Output feedback algorithm for position and attitude tracking control of underwater vehicles},
  journal = {Proceedings of the IEEE Conference on Decision and Control},
  volume = {4},
  issn = {ISSN(print='01912216', electronic=None)},
  abstract = {In this paper the problem of tracking the position and the attitude of an underwater vehicle without using direct velocity feedback is addressed. To the purpose, a controller-observer scheme is devised and exponential convergence of tracking and estimation errors is proven via a Lyapunov argument. Noticeably, in order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. A simulation case study is carried out to show the effectiveness of the proposed control algorithm.},
  year = {1998},
}

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