Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty

• Type: Article in International Scientific Journal
• Date: 2007

Authors

A Pedro Aguiar (Author) Other; Joao P Hespanha (Author) Other

Journal

Title: IEEE Transactions on Automatic Control

Vol. 52

Pages: 1362-1379

ISSN: 0018-9286

Publisher: IEEE

Indexing

ISI Web of Knowledge - 485 Citations

Scopus - 643 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-004-8EX

DOI: 10.1109/tac.2007.902731

Abstract (EN): We address the problem of position 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 2- or 3-D 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. The desired trajectory does not need to be of a particular type (e.g., trimming trajectories) and can be any sufficiently smooth bounded curve parameterized by time. We also show how these results can be applied to solve the path-following problem, in which the vehicle is required to converge to and follow a path, without a specific temporal specification. We illustrate our design procedures through two vehicle control applications: a hovercraft (moving on a planar surface) and an underwater vehicle (moving in 3-D space). Simulations results are presented and discussed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 18