Name
Abstract | ||
|---|---|---|
This paper considers 3-dimensional cross-track control for a class of underactuated autonomous vehicles. A control strategy is presented that guarantees global k-exponential stability of the cross-track error to straight line trajectories in three dimensional space. The results are based on a Line-of-Sight guidance algorithm and stability results are proven using nonlinear cascaded systems theory. Globally k-exponentially stabilizing controllers are synthesized using the technique of sliding mode with eigenvalue decomposition, and the performance of the proposed control strategyis evaluated bya case studywith an AUV. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/CDC.2005.1582222 | conference on decision and control |
Keywords | DocType | ISSN |
3 dimensional,remotely operated vehicles,asymptotic stability,space technology,system theory,eigenvalue decomposition,sliding mode control,error correction,three dimensional,navigation,mobile robots,exponential stability,control systems | Conference | 0743-1546 |
ISBN | Citations | PageRank |
0-7803-9567-0 | 14 | 2.88 |
References | Authors | |
3 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Even Børhaug | 1 | 66 | 7.97 |
| Kristin Ytterstad Pettersen | 2 | 334 | 33.32 |