Planar trajectory planning and tracking control design for underactuated AUVs

Repoulias, F; Papadopoulos, E

dc.contributor.author	Repoulias, F	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:26:55Z
dc.date.available	2014-03-01T01:26:55Z
dc.date.issued	2007	en
dc.identifier.issn	0029-8018	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18278
dc.subject	Tracking control	en
dc.subject	Trajectory planning	en
dc.subject	Underactuated AUV	en
dc.subject.classification	Engineering, Civil	en
dc.subject.classification	Engineering, Ocean	en
dc.subject.classification	Oceanography	en
dc.subject.classification	Water Resources	en
dc.subject.other	Computer simulation	en
dc.subject.other	Motion planning	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Velocity	en
dc.subject.other	Backstepping techniques	en
dc.subject.other	Tracking control	en
dc.subject.other	Trajectory planning	en
dc.subject.other	Vehicle dynamics	en
dc.subject.other	Autonomous underwater vehicles	en
dc.subject.other	Autonomous underwater vehicles	en
dc.subject.other	Computer simulation	en
dc.subject.other	Motion planning	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Velocity	en
dc.subject.other	algorithm	en
dc.subject.other	autonomous underwater vehicle	en
dc.subject.other	control system	en
dc.subject.other	tracking	en
dc.subject.other	trajectory	en
dc.title	Planar trajectory planning and tracking control design for underactuated AUVs	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.oceaneng.2006.11.007	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.oceaneng.2006.11.007	en
heal.language	English	en
heal.publicationDate	2007	en
heal.abstract	This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory. (c) 2007 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Ocean Engineering	en
dc.identifier.doi	10.1016/j.oceaneng.2006.11.007	en
dc.identifier.isi	ISI:000247860900014	en
dc.identifier.volume	34	en
dc.identifier.issue	11-12	en
dc.identifier.spage	1650	en
dc.identifier.epage	1667	en