Nonlinear path-following control of an AUV |
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Authors: | Lionel Lapierre Didik Soetanto |
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Institution: | aLIRMM, 161 rue Ada, 34392 Montpellier Cedex 5, France |
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Abstract: | A new type of control law is developed to steer an autonomous underwater vehicle (AUV) along a desired path. The methodology adopted for path-following deals explicitly with vehicle dynamics. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path-following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. Simulation results illustrate the performance of the control system proposed. |
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Keywords: | Nonlinear control Path-following Underactuated vehicles Autonomous underwater vehicles |
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