3D trajectory tracking of underactuated non-minimum phase underwater vehicles

DOI10.1016/J.AUTOMATICA.2023.111149MaRDI QIDQ6165322zbMATH OpenFDO

Authors Jihong Li

Publication date 31 July 2023

Published in Automatica (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

zbMATH Keywords

Lyapunov stabilitytrajectory trackingrobust adaptive controlunderactuated systemsnon-minimum phase systems

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Nonlinear control of three‐dimensional underactuated vehicles
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• Robust global trajectory tracking for a class of underactuated vehicles
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• 3-D robust tracking control of unmanned underwater vehicle based on error space theory

Cites work

• A Minimum Phase Output in the Exact Tracking Problem for the Nonminimum Phase Underactuated Surface Ship
• Adaptive nonlinear control without overparametrization
• Global -exponential way-point maneuvering of ships: theory and experiments
• Global robust adaptive path following of underactuated ships
• Global tracking control of underactuated ships by Lyapunov's direct method
• Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices
• Neural network-based output feedback control for reference tracking of underactuated surface vessels
• On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws
• Path tracking of underactuated ships with general form of dynamics
• Point-to-point navigation of underactuated ships
• Robust global trajectory tracking for a class of underactuated vehicles
• Stable adaptive neural control scheme for nonlinear systems
• Trajectory Tracking Control of Planar Underactuated Vehicles
• Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
• Underactuated ship global tracking under relaxed conditions
• Underactuated ship tracking control: Theory and experiments

Cited in

(2)

• Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents
• Trajectory tracking control based on a virtual closed-loop system for autonomous underwater vehicles

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