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.
Type de document :
Article dans une revue
IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2008, 33 (2), pp.28. 〈10.1109/JOE.2008.923554〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00326227
Contributeur : Lionel Lapierre <>
Soumis le : jeudi 2 octobre 2008 - 11:20:22
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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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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