@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},
 id = {de0e05f3-f3d4-3482-a34a-fc0affd2548c},
 created = {2021-04-28T12:29:35.877Z},
 file_attached = {false},
 profile_id = {dcdcff93-58cc-34bb-b0e0-7fc9736b25a1},
 group_id = {82d7d241-f241-36fe-8e1a-5a88cc7fdaa2},
 last_modified = {2021-04-28T12:29:35.877Z},
 read = {false},
 starred = {false},
 authored = {false},
 confirmed = {true},
 hidden = {false},
 citation_key = {4287130},
 source_type = {article},
 private_publication = {false},
 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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