Title :
Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
Author :
Aguiar, A. Pedro ; Hespanha, João P.
Author_Institution :
Inst. for Syst. & Robotics, Lisbon
Abstract :
We address the problem of position trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either 2- or 3-D space, we demonstrate how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be of a particular type (e.g., trimming trajectories) and can be any sufficiently smooth bounded curve parameterized by time. We also show how these results can be applied to solve the path-following problem, in which the vehicle is required to converge to and follow a path, without a specific temporal specification. We illustrate our design procedures through two vehicle control applications: a hovercraft (moving on a planar surface) and an underwater vehicle (moving in 3-D space). Simulations results are presented and discussed.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; hovercraft; nonlinear control systems; path planning; position control; remotely operated vehicles; time-varying systems; tracking; uncertain systems; underwater vehicles; Lyapunov method; adaptive switching supervisory control; hovercraft; nonlinear control; parametric uncertainty; path-following control design; time-varying system; trajectory-tracking; underactuated autonomous vehicle; Adaptive control; Control design; Mobile robots; Parametric statistics; Programmable control; Remotely operated vehicles; Space vehicles; Supervisory control; Uncertainty; Underwater vehicles; Path-following; supervisory adaptive control; trajectory-tracking; underactuated autonomous vehicles;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2007.902731