Cross-track control for underactuated autonomous vehicles

被引：0
|
作者：
Borhaug, Even [1 ]
Pettersen, Kristin Y. [1 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Eng Cybernet, NO-7491 Trondheim, Norway
来源：
2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8 | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers 3-dimensional cross-track control for a class of underactuated autonomous vehicles. A control strategy is presented that guarantees global K-exponential stability of the cross-track error to straight line trajectories in three dimensional space. The results are based on a Line-of-Sight guidance algorithm and stability results are proven using nonlinear cascaded systems theory. Globally k.-exponentially stabilizing controllers are synthesized using the technique of sliding mode with eigenvalue decomposition, and the performance of the proposed control strategy is evaluated by a case study with an AUV.
引用
收藏
页码：602 / 608
页数：7
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