Trajectory Tracking and Path Following for Underactuated Marine Vehicles
نویسندگان
چکیده
منابع مشابه
A planar path following controller for underactuated marine vehicles
Inspired by the previous work of Aicardi et al.[1] a path following controller for underactuated planar vehicles is designed by adopting a polar-like kinematic model of the system. The solution proposed does not generally guarantee null asymptotic path following error, but only its boundedness below an adjustable upper threshold. However, knowledge of the path curvature is not necessary, thus r...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2019
ISSN: 1063-6536,1558-0865,2374-0159
DOI: 10.1109/tcst.2018.2834518