On the design of gain‐scheduled trajectory tracking controllers

Abstract

AbstractA new methodology is proposed for the design of trajectory tracking controllers for autonomous vehicles. The design technique builds on gain scheduling control theory. An application is made to the design of a trajectory tracking controller for a prototype autonomous underwater vehicle (AUV). The effectiveness and advantages of the new control laws derived are illustrated in simulation using a full set of non‐linear equations of motion of the vehicle. Copyright © 2002 John Wiley & Sons, Ltd.