期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 22, 期 6, 页码 2287-2301出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2014.2306774
关键词
Cascaded systems; constant environmental forces; integral line-of-sight (LOS) guidance; monotone cubic Hermite interpolation; time-varying lookahead distance
资金
- Centre for Ships and Ocean Structures, Norwegian University of Science and Technology
- Norwegian Research Council
This paper addresses two interrelated problems concerning the planar three degree-of-freedom motion of a vehicle, namely, the path planning problem and the guidance problem. The monotone cubic Hermite spline interpolation (CHSI) technique by Fritsch and Carlson is employed to design paths that provide the user with better shape control and avoid wiggles and zigzags between the two successive waypoints. The conventional line-of-sight (LOS) guidance law is modified by proposing a time-varying equation for the lookahead distance, which is a function of the cross-track error. This results in a more flexible maneuvering behavior that can contribute to reaching the desired path faster as well as obtaining a diminished oscillatory behavior around the desired path. The guidance system along with a heading controller form a cascaded structure, which is shown to be kappa-exponentially stable when the control task is to converge to the path produced by the aforementioned CHSI method. In addition, the issue of compensating for the sideslip angle beta is discussed and a new kappa-exponentially stable integral LOS guidance law, capable of eliminating the effect of constant external disturbances for straight-line path following, is derived.
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