Title :
Global path following for 6-degrees underactuated vehicle
Author_Institution :
Inst. of Comput. Technol. & Autom., Tianjin Polytech. Univ., Tianjin, China
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;
Conference_Titel :
Computing, Communication, Control, and Management, 2009. CCCM 2009. ISECS International Colloquium on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-4247-8
DOI :
10.1109/CCCM.2009.5267995
