Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty

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 su...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on automatic control 2007-08, Vol.52 (8), p.1362-1379
Main Authors: Aguiar, A.P., Hespanha, J.P.
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Applied sciences
Automatic control
Autonomous
Computer science
control theory
systems
Control design
Control system synthesis
Control theory. Systems
Exact sciences and technology
Mobile robots
Modelling and identification
Nonlinearity
Parametric statistics
Path-following
Programmable control
Remotely operated vehicles
Robotics
Robots
Space vehicles
Studies
supervisory adaptive control
Supervisory control
Three dimensional
Tracking errors
Trajectories
trajectory-tracking
Uncertainty
underactuated autonomous vehicles
Underwater vehicles
Vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2007.902731