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

• Type: Article in International Conference Proceedings Book
• Date: 2004

Authors

Aguiar, AP (Author) Other; Hespanha, JP (Author) Other

Conference proceedings International

Title: Proceedings of the American Control Conference

Pages: 3004-3010

Proceedings of the 2004 American Control Conference (AAC)

Boston, MA, 30 June 2004 through 2 July 2004

Indexing

ISI Web of Knowledge - 15 Citations

Scopus - 31 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7