Lionel Lapierre

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This paper develops a robust nonlinear controller that asymptotically drives the dynamic model of an autonomous underwater vehicle (AUV) onto a predefined path at a constant forward speed. A kinematic controller is first derived, and extended to cope with vehicle dynamics by resorting to backstepping and Lyapunov-based techniques. Robustness to vehicle(More)
This paper addresses the problem of path-following in two-dimensional space for underactuated unmanned surface vehicles (USVs), defining a set of guidance laws at kinematic level. The proposed nonlinear Lyapunov-based control law yields convergence of the path following error coordinates to zero. Furthermore, the introduction of a virtual controlled degree(More)
This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path-following control design relies on Lyapunov theory, backstepping techniques and deals explicitly with vehicle dynamics. Furthermore, it overcomes the initial condition constraints present in a number of path-following(More)
This paper addresses the problem of coordinated path tracking for networked nonholonomic mobile vehicles, while building and keeping a desired formation. The control laws proposed are categorized into two envelopes by integrating individual path tracking and global virtual structure approaches. One is steering individual vehicles to track virtual vehicles(More)
Virtual target-based path-following techniques are extended to execute the task of vehicle following in the case of unmanned surface vehicles (USVs). Indeed, vehicle following is reduced to the problem of tracking a virtual target moving at a desired range from a master vessel, while separating the spatial and temporal constraints, giving priority to the(More)
This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path following control design relies on Lyapunov theory, backstepping techniques and deals explicitly with vehicle dynamics. Furthermore, it overcomes initial condition constraint present in a number of path following control(More)
This paper presents a practical solution to the guidance of a unicycle type robot, including path following, obstacle avoidance and the respect of wheeled actuation saturation constraint, without planning procedure. These results are based on an extension of previous results on path following control including actuation saturation constraints. New solution(More)
We investigate the problem of controlling the motion of an eel like-robot. Recent work has shown promising results for this type of systems, opening new issues in the field of efficient propulsion and high manoeuvrability systems. The motion planning is decoupled in the two subproblems of thrust generation and heading control. In this paper we investigate a(More)