Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1727032 | Ocean Engineering | 2007 | 11 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
Lionel Lapierre, Didik Soetanto,