Nonlinear Path Following Control of an AUV

Abstract : A new type of control law is developed to steer an autonomous underwater vehicle (AUV) along a desired path. The methodology adopted for path-following deals explicitly with vehicle dynamics. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path-following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. Simulation results illustrate the performance of the control system proposed.
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Article dans une revue
Ocean Engineering, Elsevier, 2007, 34 (18), pp.12. 〈10.1016/j.oceaneng.2006.10.019〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00127994
Contributeur : Lionel Lapierre <>
Soumis le : mardi 30 janvier 2007 - 13:55:39
Dernière modification le : jeudi 11 janvier 2018 - 06:26:17

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Lionel Lapierre, Antonio Pascoal, Didik Soeatanto. Nonlinear Path Following Control of an AUV. Ocean Engineering, Elsevier, 2007, 34 (18), pp.12. 〈10.1016/j.oceaneng.2006.10.019〉. 〈lirmm-00127994〉

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