Global path following for 6-degrees underactuated vehicle

Author

Yimei, Chen

Author_Institution

Inst. of Comput. Technol. & Autom., Tianjin Polytech. Univ., Tianjin, China

Volume

2

fYear

2009

fDate

8-9 Aug. 2009

Firstpage

51

Lastpage

54

Abstract

This paper studies the tracking problem for an underactuated underwater vehicle moving in 6-degrees of freedom under environmental disturbances. By application of Lyapunov´s direct method and parameter projection techniques, A robust adaptive continues controller is proposed to force the vehicle follow any smooth time-varying bounded trajectory, despite of the uncertainty of the vehicle´s environmental disturbances, the error of tracking and parameter estimation are ultimately confined to a ball that can be made arbitrarily small.

Keywords

adaptive control; nonlinear control systems; path planning; robust control; underwater vehicles; 6-degrees underactuated vehicle; Lyapunov´s direct method; global path following; nonlinear control; parameter projection techniques; robust adaptive continues controller; smooth time-varying bounded trajectory; tracking problem; underwater vehicle; Adaptive control; Error correction; Force control; Parameter estimation; Programmable control; Robust control; Trajectory; Uncertainty; Underwater tracking; Underwater vehicles; nonlinear control; robust tracking; underactuated system; underactuated vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing, Communication, Control, and Management, 2009. CCCM 2009. ISECS International Colloquium on

Conference_Location

Sanya

Print_ISBN

978-1-4244-4247-8

Type

conf

DOI

10.1109/CCCM.2009.5267995

Filename

5267995