Journal
OCEAN ENGINEERING
Volume 34, Issue 11-12, Pages 1734-1744Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2006.10.019
Keywords
nonlinear control; path-following; underactuated vehicles; autonomous underwater vehicles
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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. (c) 2007 Published by Elsevier Ltd.
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