Output Feedback Spatial Trajectory Tracking Control of Underactuated Unmanned Undersea Vehicles

Robust global trajectory tracking for a class of underactuated vehicles

In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust), which is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. Under some given assumptions, the control law that we propose is able to track a smooth reference position ...

Output feedback image-based visual servoing control of an underactuated unmanned aerial vehicle

In this article, image-based visual servoing control of an underactuated unmanned aerial vehicle is considered for the three-dimensional translational motion. Taking into account the low quality of accelerometers’ data, the main objective of this article is to only use information of rate gyroscopes and a camera, as the sensor suite, in order to design an image-based visual servoing controller....

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Introduction to Feedback Control of Underactuated VTOL Vehicles

The paper is an introduction to feedback control design for a family of robotic aerial vehicles with Vertical TakeOff and Landing (VTOL) capabilities such as quadrotors, ductedfan tail-sitters, helicopters, etc. Potential applications for such devices, like surveillance, monitoring, or mapping, are varied and numerous. For these applications to emerge, motion control algorithms that guarantee a...

Underactuated Vehicle Control - Nonlinear Output Feedback Control and Research Plans