期刊
OCEAN ENGINEERING
卷 124, 期 -, 页码 340-348出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2016.07.057
关键词
LOS guidance law; Path following; Sideslip compensation; Predictor
资金
- National Natural Science Foundation of China [61273137, 51579023, 51209026]
- China Postdoctoral Science Foundation [2015M570247]
- Fundamental Research Funds for the Central Universities [3132016201, 3132016313]
- National Key Research and Development Program of China [2016YFC0301500]
- Doctoral Scientific Research Foundation of Liaoning Province [201501035]
- State Key Laboratory of Robotics [2016-Z02]
This paper presents a novel predictor-based line-of-sight (PLOS) guidance law for the path following of underactuated marine surface vehicles. A predictor is developed for the estimation of vehicle sideslip due to environmental disturbances. The proposed guidance law not only preserves the simplicity and interpretation of classical line-of-sight (LOS) guidance, but also enables smooth and fast identification of the vehicle sideslip angle. By using a cascade stability theory, the equilibrium point of the close-loop system is shown to be uniform global asymptotic stable. The transient property is quantified by deriving the La norm of the derivative of the adaptive signal, which can be reduced by choosing design parameters. Both simulation and experimental results are provided to validate the effectiveness of the method. (C) 2016 Elsevier Ltd. All rights reserved.
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