3D path following for autonomous underwater vehicle

P. Encarnação*, A. Pascoal

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

189 Citations (Scopus)


A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived.
Original languageEnglish
Pages (from-to)2977-2982
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - 2000
Externally publishedYes
Event39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia
Duration: 12 Dec 200015 Dec 2000


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