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

• Tipo: Artigo em Revista Científica Internacional
• Data: 2007

Autores

A Pedro Aguiar (Autor) Outra; Joao P Hespanha (Autor) Outra

Revista

Título: IEEE Transactions on Automatic Control

Vol. 52

Páginas: 1362-1379

ISSN: 0018-9286

Editora: IEEE

Indexação

ISI Web of Knowledge - 485 Citações

Scopus - 643 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 18