@ARTICLE{8367854,
  author={C. {Paliotta} and E. {Lefeber} and K. Y. {Pettersen} and J. {Pinto} and M. {Costa} and J. T. {de Figueiredo Borges de Sousa}},
  journal={IEEE Transactions on Control Systems Technology}, 
  title={Trajectory Tracking and Path Following for Underactuated Marine Vehicles}, 
  year={2019},
  volume={27},
  number={4},
  pages={1423-1437},
  abstract={In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend the definition of the hand position point, introduced for ground vehicles, to autonomous surface vehicles and autonomous underwater vehicles, and then use the hand position point as output for a control strategy based on the input-output feedback linearization method. The presented strategy is able to deal with external disturbances affecting the vehicle, e.g., constant and irrotational ocean currents. Using the Lyapunov analysis, we are able to prove that the closed-loop system has an external dynamics that is globally exponentially stable and an internal dynamics that has ultimately bounded states, both for the trajectory tracking and the path following control problems. Finally, we present a simulation case study and experimental results in order to validate the theoretical results.},
  keywords={asymptotic stability;autonomous underwater vehicles;closed loop systems;feedback;linearisation techniques;Lyapunov methods;mobile robots;position control;trajectory tracking;underactuated marine vehicles;ground vehicles;autonomous surface vehicles;autonomous underwater vehicles;input-output feedback linearization method;Lyapunov analysis;closed-loop system;path following control problems;Marine vehicles;Vehicle dynamics;Trajectory tracking;Oceans;Damping;Autonomous vehicles;Task analysis;Marine vehicles;nonlinear dynamical systems;stability analysis;unmanned underwater vehicles;vehicle dynamics},
  doi={10.1109/TCST.2018.2834518},
  ISSN={1558-0865},
  month={July},}