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ICRA
2005
IEEE

Trajectory Planning and Tracking Control of Underactuated AUVs

8 years 9 months ago
Trajectory Planning and Tracking Control of Underactuated AUVs
− This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the AUV is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error one. Partial state-feedback linearization, backstepping and non-linear damping techniques are utilized to stabilize the above system and force the tracking error to a neighborhood about zero that can be made arbitrarily small. Simulation results that validate the proposed tracking methodology are presented and discussed.
Filoktimon Repoulias, Evangelos Papadopoulos
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Filoktimon Repoulias, Evangelos Papadopoulos
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