Filoktimon Repoulias

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This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics(More)
In this paper, we consider the dynamic modeling and the practical implementation of an autonomous dynamic positioning scheme, i.e., the stabilization of linear and angular velocities as well as the position and orientation, of a floating sea triangular platform. The required, closed-loop force and moment must be provided by three rotating pump jets, located(More)
This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the AUV is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the(More)
This paper describes a method for planning six DOF trajectories for an underactuated unmanned airship and for computing the open-loop controls. Beginning with a smooth inertial 3D trajectory to be tracked by the center of mass of the vehicle, the proposed algorithm, based on the dynamics of the system, provides the 3D corresponding body-fixed linear and(More)
This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed algorithm uses the vehicle dynamic model, and computes the 3D corresponding body-fixed linear and angular velocities as well as vehicle orientations, yielding a feasible(More)
This paper considers the design of a novel closed- loop trajectory tracking controller for an underactuated robotic airship having 6 degrees of freedom (DOF) and 3 controls, on forward, yaw and pitch motions using two side thrusters. A backstepping methodology is adopted as a design tool, since it is suitable for the cascaded nature of the vehicle dynamics.(More)
This paper tackles the combined problem of trajectory planning and tracking control of planar underactuated marine vehicles with different dynamic models. A reference feasible trajectory for the position and orientation is planned so as to be consistent with each of the three dynamic models. Using these reference values the dynamics of the vehicles is(More)
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