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Nonlinear Path Following Control of an AUV

Lionel Lapierre 1 Antonio Pascoal 2 Didik Soeatanto 2 
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A new type of control law is developed to steer an autonomous underwater vehicle (AUV) along a desired path. The methodology adopted for path-following deals explicitly with vehicle dynamics. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path-following control strategies described in the literature. Controller design builds on Lyapunov theory and backstepping techniques. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. Simulation results illustrate the performance of the control system proposed.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00127994
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Submitted on : Tuesday, January 30, 2007 - 1:55:39 PM
Last modification on : Tuesday, September 6, 2022 - 4:58:37 PM

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Lionel Lapierre, Antonio Pascoal, Didik Soeatanto. Nonlinear Path Following Control of an AUV. Ocean Engineering, Elsevier, 2007, 34 (18), pp.12. ⟨10.1016/j.oceaneng.2006.10.019⟩. ⟨lirmm-00127994⟩

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