Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty

By Antonio Pedro Aguiar, João Pedra Hespanha. IEEE Transactions on Automatic Control, 2007

934 citations recorded by the source corpus.

Subfields: Control and Systems Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/066712230fa7287ded2deb2a75350ae549bd4cc0

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Citations in the corpus

Time-Varying Formation Tracking for Linear Multiagent Systems With Multiple Leaders (2017, background): “Remark 6: As shown in [13] and [32] that even for formation control and tracking control, the feasible formation and feasible trajectory must be compatible with the dynamics of the agent.”
Output-Feedback Path-Following Control of Autonomous Underwater Vehicles Based on an Extended State Observer and Projection Neural Networks (2018, methodology): “Remark 4: The proposed design method takes the following advantages over the backstepping and dynamic surface control designs in [1]–[3], [6], [12], [14], [18]–[22], and [37].”
Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces (2015, methodology): “Path following methods for underactuated vehicles in the presence of large modeling parametric uncertainty using adaptive supervisory control that combines logic-based switching with Lyapunov-based techniques are discussed in [1].”
Distributed Maneuvering of Autonomous Surface Vehicles Based on Neurodynamic Optimization and Fuzzy Approximation (2018, background): “In some works, path-maneuvering is also called path-following [2], [3], [8].”
Adaptive Robust Finite-Time Trajectory Tracking Control of Fully Actuated Marine Surface Vehicles (2016, background): “Recently, fuzzy/neural approximators are employed to identify lumped unknown dynamics including uncertainties and disturbances and are incorporated into an adaptive control structure that leads to GUUB tracking errors due to reconstruction residuals, e.g., just to name a few, [18]–[24].”
An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles (2021, methodology): “invariant, smooth, state feedback control law for asymptotically stabilizing an underactuated vehicle at a fixed point [9].”
Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments (2016, background): “Since this dissertation focuses heavily on underactuated marine vessels, the following definition of underactuated mechanical systems, adapted from [62], is quoted from [1].”
A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles (2016, methodology): “he executed trajectory encounters the discontinuity. This discontinuity is illustrated in Figure V.1. A backstepping control design which does not use a feedback law of the form (V.1) is presented in [135]. Figure V.1: Visualization of (V.5) for a sample reference path shown in black. The color indi”