We address the problem of position trajectory-tracking and path-following control design for
underactuated autonomous vehicles in the presence of possibly large modeling parametric …

This paper addresses a dual closed-loop fast integral terminal sliding mode control method
of a multi-underactuated AUV formation system with uncertain model parameters and …

We present a detailed study on the design of decentralized receding horizon control (RHC)
schemes for decoupled systems. We formulate an optimal control problem for a set of …

This paper describes the application of a novel methodology for high-level control and
coordination of autonomous vehicle teams and its demonstration on high-fidelity models of …

We highlight an essential difference between path-following and reference-tracking for
nonminimum phase systems. It is well known that in the reference-tracking, for nonminimum …

We investigate limits of performance in reference tracking and path following and highlight
an essential difference between them. For a class of nonlinear systems, we show that in …

About 70% of the surface of the Earth is covered by oceans, and the ocean space represents
a vast chamber of natural resources. In order to explore and utilize these resources …

Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate
the performance of two low-level controllers when displacement and drag properties are …

This paper addresses the problem of steering a group of vehicles along given spatial paths
while holding a desired time-varying geometrical formation pattern. The solution to this …

This paper is concerned with the homing process in which a multi-underactuated AUV
recovery system tracks the moving mother submarine in finite time in the presence of …