DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES

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Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to track reference trajectories generated by virtual vehicles, and to follow a predefined path with a desired forward speed. Secondly, we develop methods to design observers to estimate the unmeasured states (velocities) of the vehicles and incorporate with the full-state feedback controllers to have output-feedback observer-based controllers. Lastly, the proposed control design methods are extended to a certain class of underactuated mechanical systems.