Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) · 2003 · 170 citations · 6 references
EngineeringAutonomous SystemsMarine EngineeringAutonomous VehiclesMarine RoboticsRoboticsAutonomous Ship ManeuveringAutonomous Underwater VehiclesManeuveringManeuvering ControlMarine Robot ControlUnderwater Vehicle DesignAutonomous Underwater Vehicle ControlAutonomous Underwater Vehicle DesignAutonomous Underwater Vehicle SystemsNonlinear Control Of Marine VehiclesPath FollowingTrajectory Tracking ControlUnderwater Vehicle ControlVehicle Path Following
The practical need to develop control systems that achieve good trajectory tracking while preserving path‑following properties motivates this work. The paper presents a solution to the problem of combined trajectory tracking and path following system design for autonomous marine craft. The authors extend Hindman and Hauser’s maneuver‑modified trajectory tracking to design a coordinated control system for an autonomous surface craft and an autonomous underwater vehicle. Simulations with nonlinear models of an underactuated marine craft and a fully actuated underwater vehicle illustrate the performance of the proposed control system.
The paper presents a solution to the problem of combined trajectory tracking and path following system design for autonomous marine craft. This problem is motivated by the practical need to develop control systems for marine craft that can yield good trajectory tracking performance while keeping some of the desired properties normally associated with path following. The solution described builds on and extends previous work by Hindman and Hauser (1992) on so-called maneuver modified trajectory tracking. An application is made to the problem of designing a control system for the coordinated operation of an autonomous surface craft (ASC) and an autonomous underwater vehicle (AUV). Simulations with nonlinear models of an underactuated marine craft and a fully actuated underwater vehicle illustrate the performance of the control system derived.
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Robotic ocean vehicles for marine science applications: the European ASIMOV project
A. Pascoal, Paulo Oliveira, Carlos Silvestre et al. · 2002 · 141 citations