By Topic

Robust Nonlinear Path-Following Control of an AUV

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Lapierre, L. ; Lab. d''Inf., Robot. et de Microelectron. de Montpellier Inst., Montpellier ; Jouvencel, B.

This paper develops a robust nonlinear controller that asymptotically drives the dynamic model of an autonomous underwater vehicle (AUV) onto a predefined path at a constant forward speed. A kinematic controller is first derived, and extended to cope with vehicle dynamics by resorting to backstepping and Lyapunov-based techniques. Robustness to vehicle parameter uncertainty is addressed by incorporating a hybrid parameter adaptation scheme. The resulting nonlinear adaptive control system is formally shown and it yields asymptotic convergence of the vehicle to the path. Simulations illustrate the performance of the derived controller .

Published in:

Oceanic Engineering, IEEE Journal of  (Volume:33 ,  Issue: 2 )