Trajectory planning and tracking control of underactuated AUVs

Repoulias, F; Papadopoulos, E

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	https://dspace.lib.ntua.gr/xmlui/handle/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