Path following for marine surface vessels

Guidance Laws for Autonomous Underwater Vehicles

“…This kinematic singularity effect necessitates a different approach to obtain the cross-track error required for steering purposes. The solution considered here seems to first have been suggested in (Aicardi et al 1995), then refined and put into a differential-geometric framework in (Lapierre et al 2003), and finally extended into the form presented below in (Breivik & Fossen 2004b). Thus, consider an arbitrary path point…”

Straight-Line Target Tracking for Unmanned Surface Vehicles

“…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.…”

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

“…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).…”