Cross-track control for underactuated autonomous vehicles

This paper considers 3-dimensional cross-track control for a class of underactuated autonomous vehicles. A control strategy is presented that guarantees global k-exponential stability of the cross-track error to straight line trajectories in three dimensional space. The results are based on a Line-o...

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Bibliographic Details
Main Authors: Borhaug, E., Pettersen, K.Y.
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic stability
Control systems
Error correction
Mobile robots
Navigation
Remotely operated vehicles
Sliding mode control
Space technology
Underwater tracking
Underwater vehicles
Online Access:Request full text
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Summary:This paper considers 3-dimensional cross-track control for a class of underactuated autonomous vehicles. A control strategy is presented that guarantees global k-exponential stability of the cross-track error to straight line trajectories in three dimensional space. The results are based on a Line-of-Sight guidance algorithm and stability results are proven using nonlinear cascaded systems theory. Globally k-exponentially stabilizing controllers are synthesized using the technique of sliding mode with eigenvalue decomposition, and the performance of the proposed control strategyis evaluated bya case studywith an AUV.
ISSN:0191-2216
DOI:10.1109/CDC.2005.1582222