Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty

Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty. Aguiar, A., P. & Hespanha, J., P. IEEE Transactions on Automatic Control, 52(8):1362-1379, 8, 2007.
abstract bibtex

We address the problem of position trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either 2- or 3-D space, we demonstrate how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be of a particular type (e.g., trimming trajectories) and can be any sufficiently smooth bounded curve parameterized by time. We also show how these results can be applied to solve the path-following problem, in which the vehicle is required to converge to and follow a path, without a specific temporal specification. We illustrate our design procedures through two vehicle control applications: a hovercraft (moving on a planar surface) and an underwater vehicle (moving in 3-D space). Simulations results are presented and discussed. © 2007 IEEE.

@article{
 title = {Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty},
 type = {article},
 year = {2007},
 identifiers = {[object Object]},
 keywords = {Path-following,Supervisory adaptive control,Trajectory-tracking,Underactuated autonomous vehicles},
 pages = {1362-1379},
 volume = {52},
 month = {8},
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 abstract = {We address the problem of position trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either 2- or 3-D space, we demonstrate how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be of a particular type (e.g., trimming trajectories) and can be any sufficiently smooth bounded curve parameterized by time. We also show how these results can be applied to solve the path-following problem, in which the vehicle is required to converge to and follow a path, without a specific temporal specification. We illustrate our design procedures through two vehicle control applications: a hovercraft (moving on a planar surface) and an underwater vehicle (moving in 3-D space). Simulations results are presented and discussed. © 2007 IEEE.},
 bibtype = {article},
 author = {Aguiar, A. Pedro and Hespanha, João P.},
 journal = {IEEE Transactions on Automatic Control},
 number = {8}
}

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