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dc.contributor.authorSyre Wiig, Martin
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorKrogstad, Thomas Røbekk
dc.date.accessioned2016-02-22T09:46:06Z
dc.date.accessioned2016-04-06T11:04:48Z
dc.date.available2016-02-22T09:46:06Z
dc.date.available2016-04-06T11:04:48Z
dc.date.issued2015
dc.identifier.citationElsevier IFAC Publications / IFAC Proceedings series 2015, 48(16):61-68nb_NO
dc.identifier.issn1474-6670
dc.identifier.issn61-68
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2384262
dc.description.abstractThis paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has been proved in previous literature, with stronger convergence properties and more robustness. The analysis is based on the 3-dimensional maneuvering control model of marine vessels, which describes both surface vessels and underwater vehicles moving in a horizontal plane. Both the kinematics and dynamics of the system is taken into account, as well as disturbances from constant and irrotational ocean currents. Simulation results are presented to validate the theoretical analysis.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.relation.ispartofseriesElsevier IFAC Publications / IFAC Proceedings series;
dc.relation.urihttp://www.sciencedirect.com/science/article/pii/S2405896315021503/pdf?md5=a599cb95ebf03cd2cfeabd9112eed284&pid=1-s2.0-S2405896315021503-main.pdf
dc.subjectpath following; guidance systems; LOS guidance; underactuated vessel; disturbance compensation; exponentially stable; cascade controlnb_NO
dc.titleUniform semiglobal exponential stability of integral line-of-sight guidance lawsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-02-22T09:46:06Z
dc.source.volume48nb_NO
dc.source.issue16nb_NO
dc.identifier.doi10.1016/j.ifacol.2015.10.259
dc.identifier.cristin1306468
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcodeOpen Accessnb_NO


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