Cross-track control for underactuated autonomous vehicles

Børhaug, E.; Pettersen, Kristin Y.

doi:10.1109/cdc.2005.1582222

Cited by 55 publications

(27 citation statements)

References 17 publications

(24 reference statements)

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“…UGAS/ULES is also referred to as global κ-exponential stability as defined by Sørdalen and Egeland (1995). The result of Pettersen and Lefeber (2001) was further extended to include a more complete vehicle model by Børhaug and Pettersen (2005), and Fredriksen and Pettersen (2006).…”

Section: +4773594599mentioning

confidence: 99%

See 1 more Smart Citation

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Fossen¹,

Pettersen²

2014

Automatica

207

105

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This paper presents a uniform semiglobal exponential stability (USGES) proof for a class of proportional line-of-sight (LOS) guidance laws used for vehicle path-following control. The LOS guidance law under consideration is a lookahead-based guidance law for marine craft. The USGES proof extends previous results that only guarantee global κ-exponential stability. Typical applications are marine craft and aircraft motion control systems for path following where the total system is a cascade of the motion controller and guidance law error dynamics.

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Section: +4773594599mentioning

confidence: 99%

“…2 LOS proportional guidance law Equation (13) is similar to the formulae used by Healey and Lienard (1993), Pettersen and Lefeber (2001), Børhaug and Pettersen (2005), Breivik and Fossen (2005), Fredriksen and Pettersen (2006), and Breivik and Fossen (2009). The proportional LOS guidance law for (15) is chosen as:…”

Section: Kinematic Equationsmentioning

confidence: 99%

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Fossen¹,

Pettersen²

2014

Automatica

207

105

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“…Most papers considering nonlinear motion control for underactuated marine surface vessels typically use some variant of the model (10)-(11), and assume that the model parameters are either perfectly known or known with only a small degree of uncertainty, see, e.g., (Breivik and Fossen, 2004), (Børhaug and Pettersen, 2005), (Do and Pan, 2006), (Fredriksen and Pettersen, 2006), and (Aguiar and Hespanha, 2007). In practice, it can be quite hard to obtain the parameter values required to populate (11), especially with regard to the hydrodynamic damping matrix.…”

Section: Modeling Considerationsmentioning

confidence: 99%

Straight-Line Target Tracking for Unmanned Surface Vehicles

Breivik¹,

Hovstein²,

Fossen³

2008

MIC

164

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This paper considers the subject of straight-line target tracking for unmanned surface vehicles (USVs). Target-tracking represents motion control scenarios where no information about the target behavior is known in advance, i.e., the path that the target traverses is not defined apriori. Specifically, this work presents the design of a motion control system which enables an underactuated USV to track a target that moves in a straight line at high speed. The motion control system employs a guidance principle originally developed for interceptor missiles, as well as a novel velocity controller inspired by maneuverability and agility concepts found in fighter aircraft literature. The performance of the suggested design is illustrated through full-scale USV experiments in the Trondheimsfjord.

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“…ships, autonomous underwater vehicles (auv) and quadrotors (cf. Børhaug and Pettersen (2005), Fossen et al (2003), Tayebi and McGilvray (2006)). Surprisingly, fixed-wing uavs are rarely defined as underactuated, even though the same constraints as for an auv are present.…”

Section: Introductionmentioning

confidence: 99%

A Decoupled Approach for Flight Control

Oland¹,

Kristiansen²

2016

MIC

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A decoupling method for flight control is presented that greatly simplifies the controller design. By approximating the higher order derivatives of the angle of attack and sideslip, it enables a rotation controller and a speed controller to be derived independently of each other, and thus gives access to a vast number of controller solutions derived for general classes of rotational and translational systems. For rotational control, a quaternion-based sliding surface controller is derived to align the wind frame in a desired direction, and using standard Lyapunov methods an airspeed controller is derived to ensure that an unmanned aerial vehicle moves with a positive airspeed. Simulations validate the potential of the proposed method, where the unmanned aerial vehicle is able to obtain leveled flight and move in a desired direction with a desired airspeed.

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Cross-track control for underactuated autonomous vehicles

Cited by 55 publications

References 17 publications

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Straight-Line Target Tracking for Unmanned Surface Vehicles

A Decoupled Approach for Flight Control

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