On the design of gain-scheduled trajectory tracking controllers
Pascoal, Antonio M.
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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.
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
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