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Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane


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

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technology

Year of publication


Published in

Applied Sciences

Journal year: 2023 | Journal volume: vol. 13 | Journal number: iss. 12

Article type

scientific article

Publication language


  • underactuated underwater vehicle
  • nonlinear tracking control
  • inertia matrix decomposition
  • simulation

EN This paper considers a trajectory-tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North-East-Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method for which the application condition is that the vehicle is symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.

Date of online publication


Pages (from - to)

7242-1 - 7242-27




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

2,7 [List 2022]

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