Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents

被引：0

作者：

Moe, Signe ^{[1
]}

Caharija, Walter

Pettersen, Kristin Y. ^{[1
]}

Schjolberg, Ingrid

机构：

[1] Norwegian Univ Sci & Technol NTNU, Dept Engn Cybernet, Ctr Autonomous Marine Operat & Syst AMOS, Trondheim, Norway

来源：

2014 AMERICAN CONTROL CONFERENCE (ACC) | 2014年

关键词：

VEHICLES;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Unmanned marine crafts constitute a priority area within several fields of study, and there are still many challenges related to making such vessels autonomous. A basic task of an autonomous marine craft is to follow a general path in the presence of unknown ocean currents. This paper presents a method to achieve this for surface vessels. The results are an extension of the results in [1] regarding path following of space curves when no ocean currents are present, and introduce a virtual Serret-Frenet reference frame that is anchored in and propagates along the desired path. The closed-loop system consists of an ocean current observer, a guidance law, a controller and an update law to drive the Serret-Frenet frame along the path, and is shown to be UGAS. Simulation results are presented to verify the theoretical results.

引用

页码：3856 / 3861

页数：6

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