Name
Title | ||
|---|---|---|
Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents |
Abstract | ||
|---|---|---|
An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. This paper presents a method to achieve this. The proposed guidance and control system only requires absolute velocity measurements for feedback, thereby foregoing the need for expensive sensors to measure relative velocities. The closed-loop system consists of a guidance law and an adaptive feedback linearizing controller combined with sliding mode, and is shown to render the path cross-track error dynamics UGAS and USGES. Simulation results are presented to verify the theoretical results. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/MED.2016.7536018 | Mediterranean Conference on Control and Automation |
Field | DocType | ISSN |
Control theory,Computer science,Control theory,Path following,Control engineering,Ocean current,Line-of-sight,Control system,Underactuation,Horizontal plane,Underwater | Conference | 2325-369X |
Citations | PageRank | References |
1 | 0.38 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Signe Moe | 1 | 26 | 4.65 |
| Kristin Ytterstad Pettersen | 2 | 402 | 42.59 |
| Thor I. Fossen | 3 | 1054 | 134.72 |
| Jan Tommy Gravdahl | 4 | 327 | 43.60 |