Integral LOS Control for Path Following of Underactuated Marine Surface Vessels in the Presence of Constant Ocean Currents

被引：211
|
作者：
Borhaug, Even [1 ]
Pavlov, A. [1 ]
Pettersen, Kristin Y. [1 ]
机构：
[1] Norwegian Univ Sci & Technol, NO-7491 Trondheim, Norway
来源：
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年
关键词：
D O I：
10.1109/CDC.2008.4739352
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we consider the development of a control strategy for path following of underactuated marine surface vessels in the presence of ocean currents. The proposed control strategy is based on a modified Line-of-Sight (LOS) guidance law with integral action and a pair of adaptive feedback controllers. Traditional LOS guidance has several nice properties and is widely used in practice for path following of marine vehicles. However, it has the drawback of being susceptible to environmental disturbances. In this work, we propose a modified LOS guidance law with integral action for counteracting environmental disturbances. Paired with a set of adaptive feedback controllers, we show that this approach guarantees global asymptotic path following of straight-line paths in the presence constant and irrotational ocean currents.
引用
收藏
页码：4984 / 4991
页数：8
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