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Robust trajectory tracking control scheme using transformed velocities for asymmetric 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, electrical engineering and space technology

Year of publication


Published in

Ocean Engineering

Journal year: 2023 | Journal volume: vol. 285, part 2

Article type

scientific article

Publication language


  • Underactuated marine vehicle
  • Trajectory tracking
  • Backstepping
  • Sliding mode control
  • Robustness
  • Velocity transformation
  • Quasi-velocities
  • Simulation

EN The paper addresses the issue of trajectory tracking control for underactuated underwater vehicles whose model is described by quasi-velocities resulting from the decomposition of the inertia matrix. The control algorithm takes into account unmodeled dynamics and external disturbances. It is shown that such mathematical models can be diagonalized and described by inertial quasi-velocities (IQV). The control scheme consists of a kinematic velocity controller and a dynamic adaptive integral sliding mode control algorithm. The paper extends the concept based on velocity transformation and backstepping methods to systems with a symmetric inertia matrix. A proof of the stability of a closed system in IQV space was carried out. The proposed approach was verified on two 3 DOF models of underwater vehicles with constraints due to the application of thruster force limitations.

Date of online publication


Pages (from - to)

115379-1 - 115379-15





Article Number: 115379

Ministry points / journal


Impact Factor

5 [List 2022]

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