Nonlinear Path Following Control of Fully Actuated Marine Vehicles with Parameter Uncertainty
Abstract
The paper addresses the problem of steering a fully actuated marine
vehicle along a desired path. The methodology adopted for path following control
deals explicitly with vehicle dynamics and plant parameter uncertainty. Furthermore,
it avoids tight constraints on initial conditions that are present in other approaches
reported in the literature. The main contribution of the paper is the development of
an efficient two-stage procedure: first, a path following control law is designed
based on the kinematics only; this is followed by the design of a robustly stabilizing
controller for the vehicle dynamics. A coupling term in the final dynamic control
law that emerges naturally out of the design procedure ensures stability of the
resulting closed-loop system. Simulation results illustrate the performance of the
control system proposed.
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.Related items
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