Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics.
Aman BehalDarren M. DawsonWarren E. DixonYongchun FangPublished in: CDC (2000)
Keyphrases
- mechanical systems
- tracking error
- three dimensional
- receding horizon
- kinematic model
- control system
- external disturbances
- real time
- kalman filter
- minimal path
- cross section
- vessel detection
- feedback loops
- nonlinear dynamics
- nonlinear systems
- surface reconstruction
- mean shift
- process control
- highly nonlinear
- motion planning
- control method
- air traffic control
- dynamic model
- degrees of freedom
- appearance model
- reference trajectory
- particle filter