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Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation
Liu L(刘陆); Wang D(王丹); Peng ZH(彭周华); Wang H(王昊)
作者部门水下机器人研究室
关键词Los Guidancelaw Path Following Sideslip Compensation Predictor
发表期刊Ocean Engineering
ISSN0029-8018
2016
卷号124页码:340-348
收录类别SCI ; EI
EI收录号20163202701222
WOS记录号WOS:000383813600029
产权排序2
资助机构National Natural Science Foundation of China under Grants 61273137, 51579023, 51209026, and in part by the China Postdoctoral Science Foundation under Grant 2015M570247, and in part by the Fundamental Research Funds for the Central Universities under Grant 3132016201, 3132016313, and in part by the National Key Research and Development Program of China under Grant 2016YFC0301500, and in part by the Doctoral Scientific Research Foundation of Liaoning Province under Grant 201501035, and in part by the State Key Laboratory of Robotics under Grant 2016-Z02.
摘要This paper presents a novel predictor-based line-of-sight (PLOS) guidance law for the path following of underactuated marine surface vehicles. A predictor is developed for the estimation of vehicle sideslip due to environmental disturbances. The proposed guidance law not only preserves the simplicity and interpretation of classical line-of-sight (LOS) guidance, but also enables smooth and fast identification of the vehicle sideslip angle. By using a cascade stability theory, the equilibrium point of the close-loop system is shown to be uniform global asymptotic stable. The transient property is quantified by deriving the L2norm of the derivative of the adaptive signal, which can be reduced by choosing design parameters. Both simulation and experimental results are provided to validate the effectiveness of the method.
语种英语
WOS标题词Science & Technology ; Technology ; Physical Sciences
WOS类目Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
关键词[WOS]VESSELS ; DESIGN
WOS研究方向Engineering ; Oceanography
引用统计
被引频次:6[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18860
专题水下机器人研究室
通讯作者Wang D(王丹); Peng ZH(彭周华)
作者单位1.School of Marine Engineering, Dalian Maritime University, Dalian, 116026, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Liu L,Wang D,Peng ZH,et al. Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation[J]. Ocean Engineering,2016,124:340-348.
APA Liu L,Wang D,Peng ZH,&Wang H.(2016).Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation.Ocean Engineering,124,340-348.
MLA Liu L,et al."Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation".Ocean Engineering 124(2016):340-348.
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