Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents

DOI10.1080/00207170701268882zbMath1119.93048DBLPjournals/ijcon/AguiarP07OpenAlexW1504700297WikidataQ59133349 ScholiaQ59133349MaRDI QIDQ3592347

António M. Pascoal, A. Pedro Aguiar

Publication date: 12 September 2007

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170701268882

zbMATH Keywords

exponential observerLyapunov techniquesmodel parameter uncertaintynonlinear adaptive controller

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Application models in control theory (93C95) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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A new formation control of multiple underactuated surface vessels ⋮ Tracking of REMUS autonomous underwater vehicles with actuator saturations ⋮ High precision tracking control for a sequence of way-points using dynamic unicycles ⋮ Synchronization of multiple autonomous underwater vehicles without velocity measurements ⋮ Leader–Follower Synchronisation for a Class of Underactuated Systems ⋮ Observer based path following for underactuated marine vessels in the presence of Ocean currents: a global approach ⋮ Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing ⋮ Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty ⋮ A time differences of arrival-based homing strategy for autonomous underwater vehicles ⋮ Robust Position Stabilization of Underactuated Surface Vessels With Unknown Modeling Parameters Via Simple P/D-Like Feedback: The Center Manifold Approach ⋮ Stability analysis of nonlinear retarded difference equations in Banach spaces ⋮ Robust global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters ⋮ Control of underactuated marine crafts with matched disturbances ⋮ Dynamic positioning for an underactuated marine vehicle using hybrid control

Cites Work

• A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.
• Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle

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