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Trajectory Tracking and Path Following for Underactuated Marine Vehicles

Title
Trajectory Tracking and Path Following for Underactuated Marine Vehicles
Type
Article in International Scientific Journal
Year
2019
Authors
Claudio Paliotta
(Author)
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Erjen Lefeber
(Author)
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Kristin Ytterstad Pettersen
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José Pinto
(Author)
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Maria Costa
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João Tasso de Figueiredo Borges de Sousa
(Author)
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Journal
Vol. 27 No. 4
Pages: 1423-1437
ISSN: 1063-6536
Publisher: IEEE
Other information
Authenticus ID: P-00Q-QX7
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
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