Position tracking of underactuated vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2003

Authors

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

Conference proceedings International

Title: PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6

Pages: 1988-1993

Annual American Control Conference (ACC 2003)

DENVER, CO, JUN 04-06, 2003-2006

Indexing

ISI Web of Knowledge - 65 Citations

Scopus - 106 Citations

Other information

Authenticus ID: P-008-SDE

Abstract (EN): This paper addresses the problem of position tracking for underactuated autonomous vehicles moving in either two or three-dimensional space. A nonlinear tracking controller is proposed for a general class of vehicles that yields global stability and exponential 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 in fact can be any sufficiently smooth bounded curve parameterized by time. The control algorithm proposed builds upon Lyapunov techniques. To illustrate its potential, we describe two vehicle control applications: an hovercraft (moving on a planar surface) and an underwater vehicle (moving in three-dimensional space). Simulation results are presented and discussed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6