Paper Info
Title
An Almost Global Tracking Control Scheme for Maneuverable Autonomous Vehicles and its Discretization
Abstract
This technical note treats the challenging control problem of tracking a desired continuous trajectory for a maneuverable autonomous vehicle in the presence of gravity, buoyancy and fluid dynamic forces and moments. A realistic dynamics model that applies to maneuverable vehicles moving in 3-D Euclidean space is used for obtaining this control scheme. While applications of this control scheme include autonomous aerial and underwater vehicles, we focus on an autonomous underwater vehicle (AUV) application because of its richer, more nonlinearly coupled, dynamics. The desired trajectory and trajectory tracking errors are globally characterized in the nonlinear state space. Almost global asymptotic stability to the desired trajectory in the nonlinear state space is demonstrated both analytically and through numerical simulations.
Year
DOI
Venue
2011
10.1109/TAC.2010.2090190
Automatic Control, IEEE Transactions
Keywords
Field
DocType
asymptotic stability,fluid dynamics,mobile robots,position control,remotely operated vehicles,state-space methods,tracking,underwater vehicles,3-D Euclidean space,asymptotic stability,autonomous aerial vehicle,autonomous underwater vehicle,continuous trajectory,fluid dynamic force,maneuverable autonomous vehicle,nonlinear state space,realistic dynamics model,tracking control,trajectory tracking error,Almost global tracking,maneuverable autonomous vehicles (MAVs),rigid body motion control
Discretization,Remotely operated underwater vehicle,Motion control,Control theory,Control engineering,Vehicle dynamics,Autonomous system (mathematics),State space,Trajectory,Mathematics,Tracking error
Journal
Volume
Issue
ISSN
56
2
0018-9286
Citations 
PageRank 
References 
17
1.20
9
Authors
3
Name
Order
Citations
PageRank
Amit K. Sanyal115427.99
Nikolaj Nordkvist2212.47
Monique Chyba34730.06