Trajectory planning and tracking control of underactuated AUVs

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dc.contributor.author Repoulias, F en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:43:41Z
dc.date.available 2014-03-01T02:43:41Z
dc.date.issued 2005 en
dc.identifier.issn 10504729 en
dc.identifier.uri http://hdl.handle.net/123456789/31493
dc.subject Trajectory planning en
dc.subject Underactuated AUV tracking en
dc.subject.other Computer simulation en
dc.subject.other Damping en
dc.subject.other Linearization en
dc.subject.other Measurement errors en
dc.subject.other Motion planning en
dc.subject.other Tracking (position) en
dc.subject.other Trajectories en
dc.subject.other Tracking control en
dc.subject.other Tracking errors en
dc.subject.other Trajectory planning en
dc.subject.other Ground vehicles en
dc.title Trajectory planning and tracking control of underactuated AUVs en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ROBOT.2005.1570344 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROBOT.2005.1570344 en
heal.identifier.secondary 1570344 en
heal.publicationDate 2005 en
heal.abstract This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the AUV is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error one. Partial state-feedback linearization, backstepping and non-linear damping techniques are utilized to stabilize the above system and force the tracking error to a neighborhood about zero that can be made arbitrarily small. Simulation results that validate the proposed tracking methodology are presented and discussed. ©2005 IEEE. en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ROBOT.2005.1570344 en
dc.identifier.volume 2005 en
dc.identifier.spage 1610 en
dc.identifier.epage 1615 en

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