document: On the design of gain-scheduled trajectory tracking controllers -LSB- AUV application -RSB- A 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 -LRB- AUV -RRB- . 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
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