Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Constant Ocean Currents

被引：43
|
作者：
Burger, A. [1 ]
Pavlov, A. [1 ]
Borhaug, E. [1 ]
Pettersen, K. Y. [1 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, NO-7491 Trondheim, Norway
来源：
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年
关键词：
ROBUST;
D O I：
10.1109/ACC.2009.5160422
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of path following and formation control for underactuated 3-degrees-of-freedom surface vessels in the presence of unknown ocean currents is considered. The proposed controllers make the vessels asymptotically constitute a desired formation that follows a given straight-line path with a desired speed profile. This control goal is achieved in the presence of currents of unknown direction and magnitude. The proposed controller consists of an adaptive yaw controller, which makes every vessel converge to its desired path, and a surge controller, which guarantees formation assembly along the path with the desired forward speed. The results are illustrated by simulations.
引用
收藏
页码：3065 / 3070
页数：6
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