Global path following control for unmanned underwater vehicles

Jian Gao, Weisheng Yan, Ningning Zhao, Demin Xu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

The horizontal nonlinear path following control problem is studied. The Serret-Frenet coordinate originating at the free reference point on the path is used to describe the path following errors and their dynamic model, solving the singularity problem in the classic method. The yaw angle is treated as the control input of path following errors, and the stabilization function is designed. The path following errors is proved to be globally asymptotically stable with properly choosing the rate of the path curve parameter. The simulation studies with the linear and circular reference pathes demonstrate the effectiveness of the proposed path following controller.

Original languageEnglish
Title of host publicationProceedings of the 29th Chinese Control Conference, CCC'10
Pages3188-3192
Number of pages5
StatePublished - 2010
Event29th Chinese Control Conference, CCC'10 - Beijing, China
Duration: 29 Jul 201031 Jul 2010

Publication series

NameProceedings of the 29th Chinese Control Conference, CCC'10

Conference

Conference29th Chinese Control Conference, CCC'10
Country/TerritoryChina
CityBeijing
Period29/07/1031/07/10

Keywords

  • Global path following
  • Serret-frenet coordinates
  • Underactuated
  • Unmanned underwater vehicle

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