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Robust Nonlinear Path-Following Control of an AUV

Lionel Lapierre 1 Bruno Jouvencel 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper develops a robust non-linear controller that asymptotically drives the dynamic model of an 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 yields asymptotic convergence of the vehicle to the path. Simulations illustrate the performance of the derived controller.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00326227
Contributor : Lionel Lapierre <>
Submitted on : Thursday, October 2, 2008 - 11:20:22 AM
Last modification on : Friday, June 7, 2019 - 2:00:02 PM

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Lionel Lapierre, Bruno Jouvencel. Robust Nonlinear Path-Following Control of an AUV. IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2008, 33 (2), pp.28. ⟨10.1109/JOE.2008.923554⟩. ⟨lirmm-00326227⟩

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