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

International Journal of Control

Volumn 80, Issue 7, 2007, Pages 1092-1108

  Aguiar, A P ^a   Pascoal, A M ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; DYNAMIC MODELS; DYNAMIC POSITIONING; KINEMATICS; LYAPUNOV FUNCTIONS; OCEAN CURRENTS;

ADAPTIVE CONTROLLERS; UNDERWATER SHUTTLE; WAY-POINT TRACKING;

WATER CRAFT;

EID: 34547950567     PISSN: 00207179     EISSN: 13665820     Source Type: Journal    
DOI: 10.1080/00207170701268882     Document Type: Article

References (17)

1. A.P. Aguiar, "Modeling, control, and guidance of an autonomous underwater shuttle for the transport of benthic laboratories", in Portuguese, Master's thesis, Instituto Superior Técnico, Technical University of Lisbon, Lisbon, Portugal, 1998.
2. A.P. Aguiar and A.M. Pascoal, "Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories", Proc. of the Oeeans'97 Conf., Halifax, Nova Scotia, Canada, October 1997, Vol 2, pp. 888-895.
3. A.P. Aguiar, J.P. Hespanha and A.M. Pascoal, "Stability of switched seesaw systems with application to the stabilization of under-actuated vehicles", Proc. of the 44th Conf. on Decision and Contr., Seville, Spain, December 2005, pp. 4584-4588.
4. M. Aicardi, G. Casalino, A. Bicchi and A. Bakstrino, "Closed loop steering of unicyck-like vehicles via Lyapunov techniques", IEEE Rob. & Autom. Mag., 2, pp. 27-35, 1995.
5. L. Brisset, M. Nokin, D. Semac, H. Amann, W. Shneider and A. Pascoal, "New methods for deep sea intervention on future benthic laboratories: analysis, development, and testing", Proc. Second Mast Days and Euromar Market, Sorrento, Italy, pp. 1025-1037, 1995.
6. R. Brockett, Asymptotic stability and feedback stabilization, in Differential Geometric Control Theory, R.W. Brockett, R.S. Millman, and H.J. Sussman, Eds, Boston, USA: Birkhäuser, 1983, pp. 181-191.
7. K.D. Do, Z.P. Jiang and J. Pan, "Universal controllers for stabilization and tracking of underactuated ships", Syst. & Contr. Lett., 41, pp. 299-317, 2002.
8. K.D. Do, Z.P. Jiang, J. Pan and H. Nijmeijer, "A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle", Automatica, 40, pp. 117-124, 2004.
9. L. Floury and R. Gable, "The technology for wireline re-entry of deep ocean boreholes employed for the Dianaut program", Geophysical Research Letters, 19, pp. 497-500, 1992.
10. T.I. Fossen, Guidance and Control of Ocean Vehicles, England: John Wiley & Sons, 1994.
11. A.J. Healey and D. Lienard, "Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles", IEEE J. of Oceanic Eng, 18, pp. 327-339, 1993.
12. H.K. Khalil, Non-linear systems, 2nd ed., New Jersey, USA: Prentice-Hall, 1996.
13. M. Krstić, I. Kanellakopoulos and P. Kokotović, Non-linear and Adaptive Control Design, New York, USA: John Wiley & Sons, Inc., 1995.
14. N. Leonard, "Control synthesis and adaptation for an underactuated autonomous underwater vehicle", IEEE J. Oceanic Eng., 20, pp. 211-220, 1995.
15. F.A. Papoulias, Non-linear Dynamics and Bifurcations in Autonomous Vehicle Guidance and Control, Underwater Robotic Vehicles: Design and Control, Albuquerque: TST Press, 1995.
16. K.Y. Pettersen and O. Egeland, "Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle", IEEE Trans. on Automat. Contr., 44, pp. 112-115, 1999.
17. K.Y. Pettersen and T.I. Fossen, "Underactuated dynamic positioning of a ship - experimental results", IEEE Transactions on Control Systems Technology, 8, pp. 856-863, 2000.