Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments
نویسندگان
چکیده
منابع مشابه
Line-of-Sight Guidance for Path Following of Marine Vehicles
This paper presents an overview of the Line-of-Sight (LOS) guidance law, which is a widely used method for generating heading reference trajectories, for path-following applications of marine vehicles. Due to the fact that these reference trajectories depend also on the form of the path, five path evaluation criteria are discussed. The guidance problem is presented in a constructive manner. Fir...
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بسیاری از پدیده ها در جهان ما اساساً غیرخطی هستند، و توسط معادلات غیرخطی بیان شده اند. از آنجا که ظهور کامپیوترهای رقمی با عملکرد بالا، حل مسایل خطی را آسان تر می کند. با این حال، به طور کلی به دست آوردن جوابهای دقیق از مسایل غیرخطی دشوار است. روش عددی، به طور کلی محاسبه پیچیده مسایل غیرخطی را اداره می کند. با این حال، دادن نقاط به یک منحنی و به دست آوردن منحنی کامل که اغلب پرهزینه و ...
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A 3 degrees of freedom (surge, sway, and yaw) nonlinear controller for path following of marine craft using only two controls is derived using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The desired speed along the path can be specified independently. The contr...
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The main focus of this paper is on the motion planning problem for an under-actuated, submerged, omni-directional autonomous vehicle. Underactuation is extremely important to consider in ocean research and exploration. Battery failure, actuator malfunction and electronic shorts are a few reasons that may cause the vehicle to loose direct control of one or more degrees-of-freedom. Underactuation...
متن کاملPath following of underactuated marine surface vessels using line-of-sight based model predictive control
This paper presents a model predictive control (MPC) for a way-point tracking of underactuated surface vessels with input constraints. A three-degree-of-freedom dynamic model of surface vessels has been used for the controller design. In order for the control action to render good helmsman behavior, a MPC scheme with line-of-sight (LOS) path generation capability is formulated. Quadratic progra...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2016
ISSN: 1063-6536,1558-0865
DOI: 10.1109/tcst.2015.2504838