Path Following With Finite-Time Convergence for Unmanned Surface Vehicle

A path-following control scheme is proposed using finite-time convergence line-of-sight (FCL) to achieve rapid convergence of position errors for an unmanned surface vehicle (USV). FCL combines classical line-of-sight (LOS) guidance with finite-time stability theory to ensure that the position of th...

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Vydáno v:	IEEE journal of oceanic engineering Ročník 50; číslo 2; s. 1153 - 1164
Hlavní autoři:	Huang, Yanwei, Lai, Guozhen, Lin, Feng, Shi, Xiaocheng, Li, Dongfang
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.04.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Accuracy Algorithms Autonomous vehicles Control systems Convergence Convergence speed Error functions hyperbolic characteristics Hyperbolic functions Line of sight line-of-sight (LOS) guidance law Line-of-sight propagation Neural networks path following Position errors Stability criteria Surface vehicles Surges Systems stability Target tracking Tracking Tracking errors Trajectory planning unmanned surface vehicle (USV) Unmanned vehicles Upper bounds Vehicle dynamics
ISSN:	0364-9059, 1558-1691
On-line přístup:	Získat plný text
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