Trajectory Tracking and Path Following for Underactuated Marine Vehicles

• Type: Article in International Scientific Journal
• Date: 2019

Authors

Claudio Paliotta (Author) Other; Erjen Lefeber (Author) Other; Kristin Ytterstad Pettersen (Author) Other; José Pinto (Author) Other; Maria Costa (Author) Other; João Tasso de Figueiredo Borges de Sousa (Author) FEUP

Journal

Title: IEEE Transactions on Control Systems Technology

Vol. 27 No. 4

Pages: 1423-1437

ISSN: 1063-6536

Publisher: IEEE

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 61 Citations

INSPEC

Other information

Authenticus ID: P-00Q-QX7

DOI: 10.1109/tcst.2018.2834518

Abstract (EN): In this paper, we present a control strategy for trajectory tracking and path following of generic paths for under-actuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend the definition of the hand position point, introduced for ground vehicles, to autonomous surface vehicles and autonomous underwater vehicles, and then use the hand position point as output for a control strategy based on the input-output feedback linearization method. The presented strategy is able to deal with external disturbances affecting the vehicle, e.g., constant and irrotational ocean currents. Using the Lyapunov analysis, we are able to prove that the closed-loop system has an external dynamics that is globally exponentially stable and an internal dynamics that has ultimately bounded states, both for the trajectory tracking and the path following control problems. Finally, we present a simulation case study and experimental results in order to validate the theoretical results.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 15