On the design of gain-scheduled trajectory tracking controllers
Loading...
Authors
Silvestre, Carlos
Pascoal, Antonio M.
Kaminer, Isaac
Advisors
Second Readers
Subjects
Date of Issue
2002
Date
Publisher
Language
Abstract
A new methodology is proposed for the design of trajectory tracking controllers for autonomous vehicles. The design technique builds on gain scheduling control theory. An application is made to the design of a trajectory tracking controller for a prototype autonomous underwater vehicle (AUV). The effectiveness and advantages of the new control laws derived are illustrated in simulation using a full set of non-linear equations of motion of the vehicle. Copyright # 2002 John Wiley & Sons, Ltd.
Type
Article
Description
International Journal of Robust and Nonlinear Control, special issue on Gain-Scheduling, 2002, 12:797-839.
The article of record as published may be found at http://dx.doi.org/10.1002/rnc.705
The article of record as published may be found at http://dx.doi.org/10.1002/rnc.705
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
C. Silvestre, A. Pascoal, and I. Kaminer, "On the design of gain-scheduled trajectory tracking controllers, "International Journal of Robust and Nonlinear Control, special issue on Gain-Scheduling, 2002, 12:797-839.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.