Cross-track control for underactuated autonomous vehicles

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Volumn 2005, Issue , 2005, Pages 602-608

  Børhaug, Even ^a   Pettersen, Kristin Y ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL SYSTEM ANALYSIS; EIGENVALUES AND EIGENFUNCTIONS; NONLINEAR CONTROL SYSTEMS; SLIDING MODE CONTROL; SYSTEM STABILITY; SYSTEM THEORY;

AUTONOMOUS VEHICLES; CROSS TRACK ERRORS; EIGENVALUE DECOMPOSITION; GLOBAL K-EXPONENTIAL STABILITY;

REMOTELY OPERATED VEHICLES;

EID: 33847237670     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2005.1582222     Document Type: Conference Paper

References (22)

1. R. Skjetne, T. Fossen, and P. Kokotivic, "Output maneuvering for a class of nonlinear systems," in Proc. IFAC World Congress Automatic Control, Barcelona, Spain, July 2002.
2. K. Pettersen and E. Lefeber, "Way-point tracking control of ships," in Proc. of 40th IEEE Conference on Decision and Control, vol. 1, December 2001, pp. 940-945.
3. E. Fredriksen and K. Pettersen, "Global k-exponential way-point manoeuvering of ships," in Proc. 43rd IEEE Conference on Decision and Control, vol. 5, Bahamas, December 2004, pp. 5360-5367.
4. T. Fossen, M. Breivik, and R. Skjetne, "Line-of-sight path following of underactuated marine craft," in Proc. 6th IFAC MCMC, Girona, Spain, September 2003, pp. 244-249.
5. M. Breivik and T. Fossen, "Path following of straight lines and circles for marine surface vessels," in Proc. 6th IFAC CAMS, Ancona, Italy, July 2004, pp. 65-70.
6. P. Encarnação, A. Pascoal, and M. Arcak, "Path following for autonomous marine craft," in Proc. of 5th IFAC Conference on Maneuvering and Control Marine Craft, 2000, pp. 117-122.
7. P. Encarnação and A. Pascoal, "3d path following for autonomous underwater vehicle," in Proc. of 39th IEEE Conference on Decision and Control, vol. 3, Sydney, Australia, December 2000, pp. 2977-2982.
8. M. Aicardi, G. Casalino, G. Indiveri, A. Aguiar, P. Encarnaç ão, and A. Pascoal, "A planar path following controller for underactuated marine vehicles," in Proc. of 9th IEEE Mediterranean Conference on Control and Automation, Dubrovnik, Croatia, June 2001.
9. A. Aguiar and A. Pascoal, "Dynamic positioning and way-point tracking of underactuated auvs in the presence of ocean currents," in Proc. of 41st IEEE Conference on Decision and Control, vol. 2, Las Vegas NV, December 2002, pp. 2105-2110.
10. A. Healey and D. Lienard, "Multivariable sliding-mode control for autonomous diving and steering of unmanned underwater vehicles," IEEE Journal of Oceanic Engineering, vol. 18, no. 3, pp. 327-339, July 1993.
11. R. Brockett, "Asymptotic stability and feedback stabilization," Differential Geometry Control Theory, pp. 181-208, 1983.
12. A. Astolfi, "On the stabilization of nonholonomic systems," in Proc. of the 33rd IEEE Conference on Decision and Control, vol. 4. Lake Buena Vista, FL, USA: IEEE, December 1994, pp. 3481-3486.
13. I. Kolmanovsky and N. McClamroch, "Developments in nonholonomic control problems," IEEE Control Systems Magazine, vol. 15, no. 6, pp. 20-36, December 1995.
14. Z. Jiang and H. Nijmeijer, "Tracking control of mobile robots: A case study in backstepping," Automatica, vol. 33, no. 7, pp. 1393-1399, July 1997.
15. E. Panteley, E. Lefeber, A. Loria, and H. Nijmeijer, "Exponential tracking control of mobile car using a cascaded approach," in Proceedings of the IFAC Workshop on Motion Control, Grenoble, France, 1998, pp. 221-226.
16. A. Aguiar, A. Atassi, and A. Pascoal, "Regulation of a nonholonomic dynamic wheeled mobile robot with parametric modeling uncertainty using lyapunov functions," in Proc. of 39th IEEE Conference on Decision and Control, vol. 3. Sydney, Australia: IEEE, December 2000, pp. 2995-3000.
17. O. Sørdalen and O. Egeland, "Exponential stabilization of nonholonomic chained systems," IEEE Trans. Automatic Control, vol. 40, no. 1, pp. 35-49, January 1995.
18. E. Lefeber, "Tracking control of nonlinear mechanical systems," Ph.D. dissertation, University of Twente, The Netherlands, 2000.
19. H. Goldstein, Classical Mechanics, 2nd ed. Addison-Wesley, July 1980.
20. H. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, New Jersey, USA: Pearson Education International inc., 2000.
21. V. Utkin, "Variable structure systems with sliding modes," IEEE Trans. Automatic Control, vol. AC-22, no. 2, pp. 212-222, April 1977.
22. R. DeCarlo, S. Zak, and G. Mathews, "Variable structure control of of non-linear multivariable systems: A tutorial," in Proc. IEEE, vol. 76, March 1988, pp. 212-232.