Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods

The paper aims to develop a novel path following control law for nonlinear vessel models in two-time scales. For the 4-DOF path following model, we explore that the guidance dynamics are much slower than the ship motion dynamics. Based on such characteristic, a singular perturbation method is used t...

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Vydané v:	Ocean engineering Ročník 124; s. 287 - 297
Hlavní autori:	Yi, Bowen, Qiao, Lei, Zhang, Weidong
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Elsevier Ltd 15.09.2016
Predmet:	Guidance and control Multi-time scales Ship path following Singular perturbations Multi-time scales Singular perturbations Guidance and control Ship path following
ISSN:	0029-8018, 1873-5258
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