This paper tackles the combined problem of trajectory planning and tracking control of planar underactuated marine vehicles with different dynamic models: an hovercraft, an surface vessel and an autonomic underwater vehicle with quadratic drag. The motion is considered to be planar. A reference feasible trajectory for the position and orientation is planned so as to be consistent with each of the three dynamic models. Using these reference values the dynamics of the vehicles is transformed to the error one. Partial state-feedback linearization, backstepping and non-linear damping techniques are utilized to stabilize the above system and force the tracking error to a set of zero that can be made arbitrarily small. Computer simulations illustrated the developed trajectory planning and tracking control scheme.
Planning and control of planar underactuated marine vehicles subject to linear and quadratic drag
Planung und Regelung planarer unteraktuierter Seefahrzeuge bei linearem und quadratischem Strömungswiderstand
2005
6 Seiten, 5 Bilder, 2 Tabellen, 16 Quellen
Conference paper
English
Control of Underactuated Marine Vehicles
Springer Verlag | 2021
|German Aerospace Center (DLR) | 2021
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