Abstract
We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller is designed using Lyapunovs direct method and the popular backstepping techniques are utilized to stabilize the above system and force the tracking error to globally exponentially stabilized to the origin. Extension to unmeasured thruster dynamics is also considered. Simulation results that validate the proposed tracking methodology are presented and discussed.
Original language | English |
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Title of host publication | Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC |
Volume | 17 |
Edition | 1 PART 1 |
DOIs | |
Publication status | Published - 2008 |
Event | 17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: Jul 6 2008 → Jul 11 2008 |
Other
Other | 17th World Congress, International Federation of Automatic Control, IFAC |
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Country | Korea, Republic of |
City | Seoul |
Period | 7/6/08 → 7/11/08 |
Keywords
- Autonomous robotic systems
- Guidance navigation and control
- Mobile robots
ASJC Scopus subject areas
- Control and Systems Engineering