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Trajectory Tracking and Path Following for Underactuated Marine Vehicles

Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, José; Costa, Maria; Borgesde de Sousa, João Tasso de Figueiredo
Journal article, Peer reviewed
Accepted version
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URI
http://hdl.handle.net/11250/2626287
Date
2018
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  • Institutt for teknisk kybernetikk [2281]
  • Publikasjoner fra CRIStin - NTNU [21949]
Original version
IEEE Transactions on Control Systems Technology. 2018, 27 (4), 1-15.   10.1109/TCST.2018.2834518
Abstract
In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend the definition of the hand position point, introduced for ground vehicles, to autonomous surface vehicles and autonomous underwater vehicles, and then use the hand position point as output for a control strategy based on the input-output feedback linearization method. The presented strategy is able to deal with external disturbances affecting the vehicle, e.g., constant and irrotational ocean currents. Using the Lyapunov analysis, we are able to prove that the closed-loop system has an external dynamics that is globally exponentially stable and an internal dynamics that has ultimately bounded states, both for the trajectory tracking and the path following control problems. Finally, we present a simulation case study and experimental results in order to validate the theoretical results.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Journal
IEEE Transactions on Control Systems Technology

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