Trajectory tracking and path following for underactuated marine vehicles

Claudio Paliotta (Corresponding author), Erjen Lefeber, Kristin Ytterstad Pettersen, Jose Pinto, Maria Costa, Joao Tasso de Figueiredo Borgesde de Sousa

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5 Citaties (Scopus)
253 Downloads (Pure)

Uittreksel

In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend the definition of the hand position point, introduced for ground vehicles, to autonomous surface vehicles and autonomous underwater vehicles, and then use the hand position point as output for a control strategy based on the input-output feedback linearization method. The presented strategy is able to deal with external disturbances affecting the vehicle, e.g., constant and irrotational ocean currents. Using the Lyapunov analysis, we are able to prove that the closed-loop system has an external dynamics that is globally exponentially stable and an internal dynamics that has ultimately bounded states, both for the trajectory tracking and the path following control problems. Finally, we present a simulation case study and experimental results in order to validate the theoretical results.

Originele taal-2Engels
Artikelnummer8367854
Pagina's (van-tot)1423-1437
Aantal pagina's15
TijdschriftIEEE Transactions on Control Systems Technology
Volume27
Nummer van het tijdschrift4
DOI's
StatusGepubliceerd - 1 jul 2019

Vingerafdruk

Ground vehicles
Trajectories
Ocean currents
Autonomous underwater vehicles
Feedback linearization
End effectors
Closed loop systems

Citeer dit

Paliotta, C., Lefeber, E., Pettersen, K. Y., Pinto, J., Costa, M., & Tasso de Figueiredo Borgesde de Sousa, J. (2019). Trajectory tracking and path following for underactuated marine vehicles. IEEE Transactions on Control Systems Technology, 27(4), 1423-1437. [8367854]. https://doi.org/10.1109/TCST.2018.2834518
Paliotta, Claudio ; Lefeber, Erjen ; Pettersen, Kristin Ytterstad ; Pinto, Jose ; Costa, Maria ; Tasso de Figueiredo Borgesde de Sousa, Joao. / Trajectory tracking and path following for underactuated marine vehicles. In: IEEE Transactions on Control Systems Technology. 2019 ; Vol. 27, Nr. 4. blz. 1423-1437.
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abstract = "In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend the definition of the hand position point, introduced for ground vehicles, to autonomous surface vehicles and autonomous underwater vehicles, and then use the hand position point as output for a control strategy based on the input-output feedback linearization method. The presented strategy is able to deal with external disturbances affecting the vehicle, e.g., constant and irrotational ocean currents. Using the Lyapunov analysis, we are able to prove that the closed-loop system has an external dynamics that is globally exponentially stable and an internal dynamics that has ultimately bounded states, both for the trajectory tracking and the path following control problems. Finally, we present a simulation case study and experimental results in order to validate the theoretical results.",
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Paliotta, C, Lefeber, E, Pettersen, KY, Pinto, J, Costa, M & Tasso de Figueiredo Borgesde de Sousa, J 2019, 'Trajectory tracking and path following for underactuated marine vehicles', IEEE Transactions on Control Systems Technology, vol. 27, nr. 4, 8367854, blz. 1423-1437. https://doi.org/10.1109/TCST.2018.2834518

Trajectory tracking and path following for underactuated marine vehicles. / Paliotta, Claudio (Corresponding author); Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, Jose; Costa, Maria; Tasso de Figueiredo Borgesde de Sousa, Joao.

In: IEEE Transactions on Control Systems Technology, Vol. 27, Nr. 4, 8367854, 01.07.2019, blz. 1423-1437.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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AU - Paliotta, Claudio

AU - Lefeber, Erjen

AU - Pettersen, Kristin Ytterstad

AU - Pinto, Jose

AU - Costa, Maria

AU - Tasso de Figueiredo Borgesde de Sousa, Joao

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AB - In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend the definition of the hand position point, introduced for ground vehicles, to autonomous surface vehicles and autonomous underwater vehicles, and then use the hand position point as output for a control strategy based on the input-output feedback linearization method. The presented strategy is able to deal with external disturbances affecting the vehicle, e.g., constant and irrotational ocean currents. Using the Lyapunov analysis, we are able to prove that the closed-loop system has an external dynamics that is globally exponentially stable and an internal dynamics that has ultimately bounded states, both for the trajectory tracking and the path following control problems. Finally, we present a simulation case study and experimental results in order to validate the theoretical results.

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KW - vehicle dynamics.

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Paliotta C, Lefeber E, Pettersen KY, Pinto J, Costa M, Tasso de Figueiredo Borgesde de Sousa J. Trajectory tracking and path following for underactuated marine vehicles. IEEE Transactions on Control Systems Technology. 2019 jul 1;27(4):1423-1437. 8367854. https://doi.org/10.1109/TCST.2018.2834518