Logic-based switching control for trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2004

Autores

Aguiar, AP (Autor) Outra; Hespanha, JP (Autor) Outra

Ata de Conferência Internacional

Título: Proceedings of the American Control Conference

Páginas: 3004-3010

Proceedings of the 2004 American Control Conference (AAC)

Boston, MA, 30 June 2004 through 2 July 2004

Indexação

ISI Web of Knowledge - 15 Citações

Scopus - 31 Citações

Outras Informações

ID Authenticus: P-008-SDA

DOI: 10.1109/acc.2004.182745

Abstract (EN): We address the problem of 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 two or three-dimensional 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. We also show how these results can be extended to the path-following problem, in which the vehicle is required to converge to and follow a path, without a special temporal specification, and once in the path, to satisfy a desired dynamic behavior. We illustrate our design procedures through two vehicle control applications: a hovercraft (moving on a planar surface) and an underwater vehicle (moving in three-dimensional space). Simulations results are presented and discussed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7