Line-of-sight path following of underactuated marine craft

Fossen, Thor I.; Breivik, Morten; Skjetne, Roger

doi:10.1016/s1474-6670(17)37809-6

Cited by 353 publications

(219 citation statements)

References 8 publications

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“…For the waypoint tracking of UUVs with the cruciform stern, several design methodologies have been introduced in the literatures, such as sliding model control [1,2], model predictive control [3], backstepping technique [4][5][6], linear matrix inequality (LMI)-based design approach [7]. However, contrary to various research efforts in the case of the cruciform stern, there is a lack of control studies on UUVs with X-stern regardless of the improved control effectiveness of large diameter UUVs (LDUUVs) [8].…”

Section: Introductionmentioning

confidence: 99%

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Kim¹,

Kim²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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-This paper focuses on a horizontal waypoint tracking and a speed control of large diameter unmanned underwater vehicles (LDUUVs) with X-stern configuration plane. The concerned design problem is converted into an asymptotic stabilization of the error dynamics with respect to the desired yaw angle and surge speed. It is proved that the error dynamics under the proposed control scheme based on the linear control and the feedback linearization can be considered as a cascade system; the cascade system is asymptotically stable if its nominal systems are so. This stability connection enables to separately deal with the waypoint tracking problem and the speed control one. By using the sector nonlinearity, the nominal system with nonlinearities is modeled as a polytopic linear parameter varying (LPV) system with parametric uncertainties. Then, sufficient linear matrix inequality (LMI) conditions for its asymptotic stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to show the validity of the proposed methodology.

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Section: Introductionmentioning

confidence: 99%

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Kim¹,

Kim²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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“…fixedwing uavs, autonomous underwater vehicles (auvs), ships, quadrotors and spacecraft (cf. Aguiar and Pascoal (2002), Børhaug and Pettersen (2005), Breivik and Fossen (2005), Fossen et al (2003), Lee et al (2010), Roberts and Tayebi (2009) and references therein).…”

Section: Introductionmentioning

confidence: 99%

Underactuated Waypoint Tracking of a Fixed-Wing UAV

Oland

Schlanbusch

Kristiansen

2013

IFAC Proceedings Volumes

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In this paper a new method of performing waypoint tracking is shown for underactuated fixed-wing uavs. The position error can be mapped onto the desired axis using a desired rotation matrix, while the velocity error can be mapped to the desired axis using a desired angular velocity. With all errors defined along one axis, the tracking problem is easily solved using only one thruster. A velocity controller is derived which makes sure that the uav tracks a desired total velocity moving towards the next waypoint, while a sliding surface attitude controller is designed to track the desired attitude. The impact of saturation on the attitude controller is also studied where it is shown that the actuators will desaturate in finite time, through a change in the reference trajectory. Using both controllers, a solution to the problem of waypoint tracking of an underactuated uav is proposed, and simulations have been performed that support the theoretical results.

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“…The line-of-sight (LOS) path following principle, used in Healey and Lienard (1993), Pettersen and Lefeber (2001), Fossen et al (2003), Breivik and Fossen (2004) and Fredriksen and Pettersen (2006), mimics the way an experienced helmsman steers a ship by aiming towards a point that lies on the path ahead of the vessel. Pettersen and Lefeber (2001) proved uniform global κ-exponential stability (defined in Sørdalen and Egeland (1995) as global asymptotic stability (UGAS) and uniform local exponential stability (ULES)) of the LOS guidance law in connection with a simplified vehicle model in 3 degrees of freedom (3-DOF).…”

Section: Introductionmentioning

confidence: 99%

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

2015

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This paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has been proved in previous literature, with stronger convergence properties and more robustness. The analysis is based on the 3-dimensional maneuvering control model of marine vessels, which describes both surface vessels and underwater vehicles moving in a horizontal plane. Both the kinematics and dynamics of the system is taken into account, as well as disturbances from constant and irrotational ocean currents. Simulation results are presented to validate the theoretical analysis.

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Line-of-sight path following of underactuated marine craft

Cited by 353 publications

References 8 publications

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Underactuated Waypoint Tracking of a Fixed-Wing UAV

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

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