Combined trajectory tracking and path following: an application to the coordinated control of autonomous marine craft

Author

Encarnação, P. ; Pascoal, A.

Author_Institution

Inst. for Syst. & Robotics, Instituto Superior Tecnico, Lisbon, Portugal

Volume

1

fYear

2001

fDate

2001

Firstpage

964

Abstract

The paper presents a solution to the problem of combined trajectory tracking and path following system design for autonomous marine craft. This problem is motivated by the practical need to develop control systems for marine craft that can yield good trajectory tracking performance while keeping some of the desired properties normally associated with path following. The solution described builds on and extends previous work by Hindman and Hauser (1992) on so-called maneuver modified trajectory tracking. An application is made to the problem of designing a control system for the coordinated operation of an autonomous surface craft (ASC) and an autonomous underwater vehicle (AUV). Simulations with nonlinear models of an underactuated marine craft and a fully actuated underwater vehicle illustrate the performance of the control system derived

Keywords

control system synthesis; marine systems; mobile robots; nonlinear control systems; position control; tracking; ASC; AUV; autonomous marine craft; autonomous surface craft; autonomous underwater vehicle; coordinated control; fully actuated underwater vehicle; maneuver modified trajectory tracking; nonlinear models; path following; trajectory tracking; underactuated marine craft; Control systems; Feedback; Lyapunov method; Marine vehicles; Motion control; Remotely operated vehicles; Target tracking; Trajectory; Underwater vehicles; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980234

Filename

980234