Title :
Robust Nonlinear Path-Following Control of an AUV
Author :
Lapierre, Lionel ; Jouvencel, Bruno
Author_Institution :
Lab. d´´Inf., Robot. et de Microelectron. de Montpellier Inst., Montpellier
fDate :
4/1/2008 12:00:00 AM
Abstract :
This paper develops a robust nonlinear controller that asymptotically drives the dynamic model of an autonomous underwater vehicle (AUV) onto a predefined path at a constant forward speed. A kinematic controller is first derived, and extended to cope with vehicle dynamics by resorting to backstepping and Lyapunov-based techniques. Robustness to vehicle parameter uncertainty is addressed by incorporating a hybrid parameter adaptation scheme. The resulting nonlinear adaptive control system is formally shown and it yields asymptotic convergence of the vehicle to the path. Simulations illustrate the performance of the derived controller .
Keywords :
Lyapunov methods; adaptive control; mobile robots; nonlinear control systems; path planning; remotely operated vehicles; robot dynamics; robust control; underwater vehicles; vehicle dynamics; AUV; Lyapunov-based technique; autonomous underwater vehicle; backstepping technique; hybrid parameter adaptation scheme; kinematic controller; nonlinear adaptive control system; path-following control; robust nonlinear control; vehicle dynamics; Adaptive control; Backstepping; Convergence; Kinematics; Remotely operated vehicles; Robust control; Robustness; Uncertain systems; Underwater vehicles; Vehicle dynamics; Adaptive control; nonlinear control; path following; underactuated vehicle;
Journal_Title :
Oceanic Engineering, IEEE Journal of
DOI :
10.1109/JOE.2008.923554