Uniform Semiglobal Exponential Stability of Integral Line-of-Sight Guidance Laws∗∗This work was partly supported by the Research Council of Norway through the Centres of Excellence funding scheme, project no. 223254 - AMOS

Wiig, Martin S.; Pettersen, Kristin Y.; Krogstad, Thomas R.

doi:10.1016/j.ifacol.2015.10.259

Cited by 10 publications

(3 citation statements)

References 22 publications

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“…The simulations for the path following control of marine surface vessels were carried out and the case for autonomous underwater vehicles was also validated. Wiig et al (2015) presented the uniform semi-global exponential stability proof of the integral LOS guidance law for path following control of underactuated marine vessels. Both the kinematics and dynamics of the system were taken into account, and the simulation results were presented to support the theoretical analysis.…”

Section: Integral Losmentioning

confidence: 99%

Review of Path-following Control Systems for Maritime Autonomous Surface Ships

Soares

2023

J. Marine. Sci. Appl.

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A review presents the state-of-the-art path-following control systems for maritime autonomous surface ships, where the special focus is placed on the guidance subsystem and control subsystem. The path following control system is one of the basic requirements for autonomous ships since it guarantees that the ship can track the predefined path with small cross-track errors. The path following problem is firstly defined, and the cross-track error dynamics are derived from the kinematic equations of marine surface ships. The classical guidance laws are introduced, and the governing equations are also presented in this paper. A review of the guidance laws and controllers for the maritime autonomous surface ships has been carried out based on relevant journal and conference papers. Several important properties and characteristics, such as control structure, guidance law, control method, stability, environmental disturbance and vessel dynamics, are defined for the comparative analysis. Finally, the summary and a discussion on the most used technologies for the path following control of marine autonomous surface ships are presented and highlighted.

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Section: Integral Losmentioning

confidence: 99%

Review of Path-following Control Systems for Maritime Autonomous Surface Ships

Soares

2023

J. Marine. Sci. Appl.

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“…Based on the expected heading ψ d and expected angular velocity . ψ d given in the guidance subsystem [35], Equation (11) is used to obtain the heading control law as follows:…”

Section: Design Of Heading and Velocity Controllermentioning

confidence: 99%

“…The coefficient matrix of the system is Hurwitz matrix. Hence, the equilibrium state of the system ( u r , ψ, r) = (0, 0, 0) is global exponential stable [35,36], i.e., the control objectives lim t→∞ ψ(t) = ψ d , lim t→∞ u(t) − u d (t) = 0 are achieved.…”

Section: Stability Of Heading and Velocity Controllermentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

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Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

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Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

Wang

Fan

et al. 2018

IEEJ Transactions Elec Engng

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This paper addresses three interrelated problems concerning the path following of a podded propulsion unmanned surface vessel (USV), namely, the modeling of podded propulsion USV, the model parameter identification and the guidance law design. Based on hypotheses and simplification, three degree of freedom (DOF) manipulating mathematical model group (MMG) models of podded propulsion USV are reduced to the response model, and then, a series of field experiments (turning experiment and zig-zag experiment) is carried out to collect corresponding data. On this basis, the parameters of the model are obtained through the method of system identification. Meanwhile, the simulation data are compared with the actual data to verify the accuracy of the identification results. The conventional line-of-sight guidance is modified by adaptive sideslip angle and a time-varying lookahead distance, where the lookahead distance is adjusted by fuzzy algorithm. Lyapunov function is used to prove that all error signals in the system are uniformly ultimately bounded. Three numerical examples and the real ship field experiment have been described to illustrate the performance and effectiveness of the proposed scheme.

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Uniform Semiglobal Exponential Stability of Integral Line-of-Sight Guidance Laws∗∗This work was partly supported by the Research Council of Norway through the Centres of Excellence funding scheme, project no. 223254 - AMOS

Cited by 10 publications

References 22 publications

Review of Path-following Control Systems for Maritime Autonomous Surface Ships

Review of Path-following Control Systems for Maritime Autonomous Surface Ships

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

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