|Title||Trajectory Tracking and Path Following for Underactuated Marine Vehicles|
|Publication Type||Journal Article|
|Year of Publication||2019|
|Authors||Paliotta, C, Lefeber, E, Pettersen, KYtterstad, Pinto, J, Costa, M, de Sousa, JTasso de F|
|Journal||IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY|
|Type of Article||Article|
|Keywords||Marine vehicles, nonlinear dynamical systems, stability analysis, unmanned underwater vehicles, Vehicle dynamics|
In this paper, we present a control strategy for trajectory tracking and path following of generic paths for under-actuated 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.