Depending on the amount of data to process, file generation may take longer.

If it takes too long to generate, you can limit the data by, for example, reducing the range of years.


Download BibTeX


A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles


[ 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. 17

Article type

scientific article

Publication language


  • underactuated marine vehicle
  • trajectory tracking
  • backstepping
  • integral sliding mode control
  • robustness
  • velocity transformation
  • quasi-velocities
  • simulation

EN This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and is suitable for symmetric vehicles. It is shown that such systems can be diagonalized using inertial quasi-velocities (IQVs). The strategy consists of the velocity controller and two adaptive integral sliding mode control algorithms. The proposed approach, introducing velocity transformation and using backstepping methods and integral sliding mode control, allows trajectory tracking for vehicles in described models with symmetric inertia matrix. Proof of the stability of the closed system was carried out using IQV. The proposed scheme has been verified on two 3 DOF models of underwater vehicles with thruster limitations. A brief discussion of the results is also given.

Date of online publication


Pages (from - to)

8903-1 - 8903-25





Article Number: 8903

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


Impact Factor


This website uses cookies to remember the authenticated session of the user. For more information, read about Cookies and Privacy Policy.