Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is...

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Bibliographic Details
Published in:	Polish maritime research Vol. 24; no. 1; pp. 3 - 11
Main Authors:	Liu, Tao, Dong, Zaopeng, Du, Hongwang, Song, Lifei, Mao, Yunsheng
Format:	Journal Article
Language:	English
Published:	Gdansk Sciendo 01.03.2017 De Gruyter Brill Sp. z o.o., Paradigm Publishing Services
Subjects:	Algorithms Asymptotic properties Computer simulation Control Control stability Control systems improved lineof- sight guidance algorithm Inertial coordinates Line of sight Mathematical models nonlinear backstepping method path following control Permissible error Reliability Serret-Frenet coordinate frame Simulation Thrust Thrust control Torque Trajectory planning underactuated system unmanned surface vessel (USV) Unmanned vehicles Velocity Yaw Yawing
ISSN:	2083-7429, 1233-2585, 2083-7429
Online Access:	Get full text
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