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Application of a Trajectory Tracking Algorithm for Underactuated Underwater Vehicles Using Quasi-Velocities


[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Published in

Applied Sciences

Journal year: 2022 | Journal volume: vol. 12 | Journal number: iss. 7

Article type

scientific article

Publication language


  • underactuated underwater vehicle
  • nonlinear control
  • quasi-velocities
  • simulation

EN In this work, an application of the trajectory tracking algorithm proposed in the literature for underactuated marine vehicles is presented. The main difference relies on that here the dynamics of the vehicle are expressed in terms of some quasi-velocities (QV). This fact has a double meaning. First of all, it is shown that using the QV, it is possible to control a vehicle in the absence of one variable because the works related to marine vehicles have only concerned fully actuated systems. In addition, a controller using QV provides information that gives some insight into vehicle dynamics and that is not available in classical equations of motion. The simulations done on two 3-DOF models of different underwater vehicles and using two desired trajectories show performance of the considered control strategy. A discussion of the presented control scheme and selected control approaches from recent years was also conducted, and the benefits of the proposed approach were pointed out.

Date of online publication


Pages (from - to)

3496-1 - 3496-23





Article Number: 3496

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Ministry points / journal


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