Combined Trajectory Tracking and Path Following for Underwater Vehicles

Abstract The paper presents a solution to the problem of combined trajectory tracking and path following for underwater vehicles. This problem is motivated by the practical need to develop control systems for marine vehicles that can yield good trajectory tracking performance while keeping some of the desired properties associated with path following. The solution described builds on and extends previous work by Hindman and Hauser on so-called maneuver modified trajectory tracking. The theoretical tools used borrow from Lyapunov stability theory and backstepping techniques. Simulations with a nonlinear model of a fully actuated underwater vehicle illustrate the performance of the combined trajectory tracking and path following controller derived.

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