Name
Title | ||
|---|---|---|
Path following of underactuated marine surface vessels in the presence of unknown ocean currents |
Abstract | ||
|---|---|---|
Unmanned marine crafts constitute a priority area within several fields of study, and there are still many challenges related to making such vessels autonomous. A basic task of an autonomous marine craft is to follow a general path in the presence of unknown ocean currents. This paper presents a method to achieve this for surface vessels. The results are an extension of the results in [1] regarding path following of space curves when no ocean currents are present, and introduce a virtual Serret-Frenet reference frame that is anchored in and propagates along the desired path. The closed-loop system consists of an ocean current observer, a guidance law, a controller and an update law to drive the Serret-Frenet frame along the path, and is shown to be UGAS. Simulation results are presented to verify the theoretical results. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ACC.2014.6858984 | American Control Conference |
Keywords | Field | DocType |
asymptotic stability,closed loop systems,marine vehicles,mobile robots,observers,path planning,remotely operated vehicles,UGAS,autonomous marine craft,closed-loop system,guidance law,path following,space curves,underactuated marine surface vessels,uniformly globally asymptotically stable,unknown ocean current observer,unmanned marine crafts,update law,virtual Serret-Frenet reference frame,(Under)water vehicles,Autonomous systems,Feedback linearization | Reference frame,Control theory,Control theory,Computer science,Path following,Control engineering,Ocean current,Underactuation,Observer (quantum physics) | Conference |
ISSN | Citations | PageRank |
0743-1619 | 5 | 0.50 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Signe Moe | 1 | 26 | 4.65 |
| Walter Caharija | 2 | 33 | 2.40 |
| Kristin Ytterstad Pettersen | 3 | 334 | 33.32 |
| Ingrid Schjølberg | 4 | 5 | 0.84 |