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题名:
Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation
作者: 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
通讯作者: 王丹 ; 彭周华
关键词: LOS guidancelaw ; Path following ; Sideslip compensation ; Predictor
刊名: Ocean Engineering
ISSN号: 0029-8018
出版日期: 2016
卷号: 124, 页码:340-348
收录类别: SCI ; EI
产权排序: 2
项目资助者: 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
EI收录号: 20163202701222
WOS记录号: WOS:000383813600029
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
关键词[WOS]: VESSELS ; DESIGN
研究领域[WOS]: Engineering ; Oceanography
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18860
Appears in Collections:水下机器人研究室_期刊论文

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Recommended Citation:
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,2016-01-01,124:340-348.
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文件名: Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation.pdf
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