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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)
Department水下机器人研究室
Source PublicationOcean Engineering
ISSN0029-8018
2016
Volume124Pages:340-348
Indexed BySCI ; EI
EI Accession number20163202701222
WOS IDWOS:000383813600029
Contribution Rank2
Funding OrganizationNational 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.
KeywordLos Guidancelaw Path Following Sideslip Compensation Predictor
AbstractThis 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.
Language英语
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectEngineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
WOS KeywordVESSELS ; DESIGN
WOS Research AreaEngineering ; Oceanography
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18860
Collection水下机器人研究室
Corresponding AuthorWang D(王丹); Peng ZH(彭周华)
Affiliation1.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
Recommended Citation
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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