Paper Info
Title
Path following of marine surface vessels with saturated transverse actuators
Abstract
This paper presents a control technique for low speed path following applications of fully actuated marine surface vehicles with saturated transverse actuators. Path following of straight lines is considered. The control system is designed to counteract disturbances caused by ocean currents and combines the Integral Line-of-Sight guidance law (ILOS) with a nonlinear saturated sway controller. The ocean current is considered constant, irrotational and acting in any direction of the inertial frame. The control configuration is derived from controllers designed for underactuated marine vehicles and exploits both sway actuators and side-slipping to compensate for the drift and guarantee successful path following. The additional use of transverse actuators for disturbance compensation increases mission flexibility when trade-offs between path following speed, power usage and energy consumption arise. This represents an extension of the underactuated case. The vehicle dynamics are defined in terms of relative velocities only, since the ocean current is assumed irrotational. Closed loop uniform global asymptotic stability and uniform local exponential stability are achieved and explicit bounds on the guidance law parameters are given. The theoretical results are supported by simulations.
Year
DOI
Venue
2013
10.1109/ACC.2013.6579894
American Control Conference
Keywords
DocType
ISSN
actuators,asymptotic stability,closed loop systems,control system synthesis,marine vehicles,nonlinear control systems,path planning,vehicle dynamics,ILOS,closed loop uniform global asymptotic stability,control system design,counteract disturbance compensation,inertial frame,integral line-of-sight guidance law,marine surface vessel,nonlinear saturated sway controller,ocean current,path following,saturated transverse actuator,underactuated marine vehicle,uniform local exponential stability,vehicle dynamics
Conference
0743-1619
ISBN
Citations 
PageRank 
978-1-4799-0177-7
2
0.43
References 
Authors
8
3
Name
Order
Citations
PageRank
Walter Caharija1332.40
Kristin Ytterstad Pettersen233433.32
Jan Tommy Gravdahl312120.61