Adaptive Backstepping DP Controller using Quaternions for attitude
Adaptive backstepping controller for dynamic positioning of an AUV, using a quaternion error-state formulation to avoid gimbal lock.
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Things I've built, broken, and occasionally fixed.
2026
Thrust Allocator for a 6DOF AUV
·2 mins
Constrained and pseudoinverse thrust allocation for Vortex NTNU’s AUV, based on Fossen’s formulations.