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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Autors principals:	Liu Tao, Dong Zaopeng, Du Hongwang, Song Lifei, Mao Yunsheng
Format:	Artigo
Idioma:	Inglês
Publicat:	Sciendo 2017-03-01
Col·lecció:	Polish Maritime Research
Matèries:	unmanned surface vessel (usv) path following control serret-frenet coordinate frame underactuated system improved lineof- sight guidance algorithm nonlinear backstepping method
Accés en línia:	https://doi.org/10.1515/pomr-2017-0001
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